旋回式クレーンの吊り荷振れ止め制御に関する研究 : 吊り荷振れ角センサの開発と縮小モデルでの旋回振れ止め制御

抄録

This paper is concerned with the sway control system for rotary cranes during swing operation. The sway control system in lever operation is successfully performed by developing a sway angle sensor and a sway controller. The proposed sensor is composed of strain gauges and a FIR filter which can measure the sway angle with time-lag using boom strain. The load sway is regulated by applying the regulator theory to a linearized crane model. It is confirmed by comparison of analytical and experimental results that the proposed sway system shows excellent performance and allows easy operation from a practical viewpoint.