ブームのたわみを考慮したクレーンつり荷の制振制御

抄録

This article proposes a damping control of a suspended load for crane systems in consideration of crane boom deflection. Many researches on transporting and anti-swaying control of cranes have been reported. However, most of those researches, crane boom is modeled as a rigid body. It might not be necessary for cranes with short booms to consider this kind of deflection, but for long-boom cranes the deflection would become bigger and should be consider during controller design. In the proposed system, the boom deflection as well as the time delay in the system is explicitly considered and is incorporated into the controlled plant mode. The experimental results showed that the attenuation for the boom deflection and the load sway becomes better by using the proposed method.