抄録
Operating a traveling crane in the plant is very hard, so that an automatic control of the crane operation have been expected. This study describes automatic traveling motion control of the crane system for the purpose of suppress swing a load at several cases. Automatic traveling motion control requires that both the swinging of load and position tracking of the cart are controlled simultaneously. H^∞ servo controller based time domain characteristics is adopted in the controller design to improve robust performance. Some experiments conducted in various condition of loads. Experimental results shows effectiveness of the H^∞ servo controller. A reason for achieving robustness to modeling error at the band of high frequency was confirmed by controller design which suppressing frequency characteristic of the complementary sensitivity function.
