クレーンの吊り荷位置制御系における人間のコントローラとしての動特性の実機評価

抄録

The article reports evaluation results of human dynamics as a controller in order to improve operability of positioning control systems of a crane load, including anti-sway control. Specifically, we evaluated the human dynamics as a controller using a task in which a human follows a suspended load to a randomly changing target position as an example. The results showed that when there is no anti-sway control of the load, it has a characteristic including a notch filter so that human can damp the swaying of the load, but when the anti-sway control is implemented, it has a proportional characteristic. In other words, it is thought that a crane suspension control system that is easy for humans to operate can be constructed by introducing appropriate anti-sway control.