巻上げ式天井クレーンの非線形制御
1992 年 58 巻 548 号 p. 1318-1326
詳細
1992 年 58 巻 548 号 p. 1318-1326
A design of a nonlinear controller for overhead traveling cranes with winding mechanism is shown. The nonlinearity is due to the change in the loop length while a load is wound up and down, and is a cause of undesired load swing in the crane operation. The proposed nonlinear controller compensates it and reduces the swing considerably. A local stability of the closed system with the controller is proven. Experimental results illustrate the effectiveness of the controller.
