Dynamics & Design Conference
Online ISSN : 2424-2993
2017
セッションID: 316
会議情報

固有振動数成分除去法による天井走行クレーンの制振
(固有振動数の推定誤差に対するロバスト性の向上)
*栗原 海古瀬 大祐近藤 孝広森 博輝松崎 健一郎宗和 伸行
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会議録・要旨集 フリー

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抄録
Overhead traveling cranes are widely used at ports and factories, and they play an important role in mass transportation systems. The main problem in operation of overhead traveling cranes is that the residual vibration of a cargo often occurs at the end of transportation. At present, prevention of the residual vibration depends on proficient skills of operators. Therefore, the automatic operation of overhead traveling cranes is strongly desired for an efficient and safe transportation. In our previous paper, a new type of open-loop control has been proposed which is based on the concept that the residual vibration does not occur in a linear undampede system excited by an external force which does not contain the component of natural frequency. This control is also applicable to system with strong damping and nonlinearity by regarding associated terms as part of the external force. This paper improves the robustness against an inevitable estimation error in natural frequency, combining an optimization method in order to reduce the swing motion of the cargo during transportation.
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