ブーム長変動など考慮したクレーンのつり荷制振制御系のロバスト性解析

抄録

This article reports a robustness analysis of damping control systems of a suspended load for truck cranes taking into consideration plant perturbation such a change of the boom length. The controller analyzed is based on a model that consists of the second bending mode round the hook and the input delay of existing valve controllers. In the analysis, the closed loop poles are investigated in five boom configurations, which are near the center and the four corners (edges) of the moving range of a truck crane. The results showed that a controller designed dedicating to the center position cannot stabilized the suspended load sway at the one corner where the boom length is shortest. It has also been confirmed that the suspended load sway is well damped even when the boom configuration is in the corners by using dedicated controllers. Thus, to cover all the moving range, a kind of gain scheduling will be needed, and this is a future work.