1A1-U10 Study on Crane Tele-operation System Using Zero Phase Notch Filter And Model Predictive Control(Cooperation between Human and Machine(1))

Abstract

In this paper we design a new crane tele-operation system considering power assisted conveyance using zero phase notch filter and model predictive control. The zero phase notch filter enables to modify frequency characteristics of operating torque without signal distortion on the line in oder to suppress vibration of the load-rope of crane. The model predictive control enables to suppress the vibration in comparison with conventional system sufficiently. Some results of simulation and experiment are given in order to verify the usefulness of our proposed system.