巻き上げ, カーブ軌道を有する天井クレーンの搬送制御

抄録

This paper presents modeling and control of an overhead travelling crane at three-dimensional complex transfer trajectory with and without hoisting motion of the straight and curved trajectories. First, the proposed model of an overhead travelling crane with respect to the sway of a suspended object is given as two models with mutual coupling projected on the travelling-vertical plane and the transverse-vertical plane. Second, in order to achieve practical control of the tracking of a reference trajectory, the suppression of sway of an object suspended by a wire and the time variation of a crane system during hoisting motion, two optimal regulator control systems with gain schedule are independently designed along the X and Y directions. Finally, the usefulness of the present approach is demonstrated through control simulations and experiments.