オープンループ有限時間整定制御による並進型一次元天井クレーンの制振搬送実験

抄録

One of the problems of overhead cranes used for transporting heavy loads is causing long-lasting residual vibration without using dampers, which lowers safety and work efficiency. The purpose of this study is to suppress the residual vibration of the pendulum in the 1D translation type overhead crane by deciding the trajectory of the trolley by vibration manipulation function (VMF). We attempted open-loop finite-time-settling control by using VMF as a finite-time-settling function. We performed experimental works of vibration control transfer of the overhead crane by using a stepping motor to faithfully reproduce the transport trajectory calculated by VMF. Results of experiments was compared with simulations.