トランスファークレーンの振れ止め制御におけるロッキング振動除去方法

抄録

One of the most important functions of a cargo handing machine such as a transfer crane is sufficient cooperative operation with a container crane at a port container terminal. To minimize the container handling time, i.e.consolidate the convergence time of sway motion, a low-pass filter is used to separate a rocking vibration component from sway detection signal in a conventional control system. However, the characteristics of the low-pass filter produce a phase delay of the sway detection signal, which lowers anti-sway performance. In order to improve the performance, a notch filter with on-line system identification of rocking frequency is used instead of a low-pass filter as a filter for removing rocking vibration. Result of numerical simulations show that the proposed method decreases the convergence time for a sway of 200mm to 50mm from 10.9s to 6, 2s.