クレーンの適応制御

抄録

This paper presents position and vibration control methods of a crane in the air and under the water. In general, dynamic characteristics of a crane are changed by a load, hoist motion and other factors. In addition, they have many unidentifiable parameters under the water. We use a model reference adaptive control system (MRACS) as our control policy. Using a discrete time model, we can design a discrete MRACS by simple algorithms and structures. The experimental study has been carried out using a crane composed of a linear pulse motor for the traverse motion and a small pulse motor for the hoist motion. A CCD camera and an image processor are used to measure the position of the load. Experimental results have shown that the crane in the air and under the water can be controlled effectively by the proposed adaptive algorithms.