スタッカクレーンの残留振動抑制を目的とした軌道最適化手法の検討*

抄録

Many studies have been conducted on the problem of suppressing residual vibration of stacker cranes for a long time, but most of the studies have been discussed by fixing either the cart or the carriage. In the previous report, the authors derived a dynamic model of the stacker crane considering the coupling of the motion and vibration, and proposed a new method to obtain a large vibration suppression effect by simultaneously operating the cart and the carriage in a coordinated manner based on the derived dynamic model. In the proposed method, the reference trajectories of the cart and the carriage were represented by the B-spline function, and the control points were optimized by the Hill Climbing (HC). However, since the HC is a local search method, there is a problem that it is easy to fall into a local minimum solution and the computational cost is large. Therefore, in this study, we try to efficiently search for a global optimum solution by applying Particle Swarm Optimization (PSO). The effectiveness and efficiency of the newly formulated algorithm are verified by numerical simulation.