目標軌道に拘束されたクレーン懸垂物の開ループ振れ止め制御法

抄録

Nuclear fusion technology is moving into the engineering design stage to secure a safe and stable energy resource for the next generation. Maintenance and inspection technology of nuclear fusion reactor is also essential for the realization of continuous fusion power generation. The environment inside of and around the reactor is strong radiation, high vacuum, strong magnetic field and high temperature environment. These environments are not desirable for mechanical systems, and various sensors on the crane for maintenance fail. Therefore, adopting feedback control in the control system design of the crane leads to a decrease in the reliability of the entire system and it is desirable to have a control system based on feed-forwarding that does not use sensors. In this paper, Input shaping is focused on as a control method for crane, however maintenance by the crane involves very complex operations. In order to realize this work, this study shows a method to suppress vibration by acceleration and deceleration on the payload target trajectory. By applying existing methods of input shaping and combining with optimization calculations, the vibration is suppressed and the trajectory is followed. Numerical analyses are performed and the proposed method is evaluated by the results of numerical analyses.