旋回クレーン系に対する切り換え型振れ止め適応制御とその実験的検証(機械力学,計測,自動制御)

抄録

This paper is concerned with an anti-sway control for rotary crane system. This rotary crane system is regarded as highly nonlinear two input and four output system involving interactions between inputs and outputs. Here we treat positioning control and anti-sway control of a rotary crane. For that purpose we propose a new control algorithm combining switching-type nonlinear decoupling control with simple adaptive control for each system. The control system then results in linear two input two output positioning system and linear two input two output anti-sway system by the effect of decoupling control and the control accuracy is assured by simple adaptive control. These two control systems are switched by the criterion concerning the specified amount of sway. The effectiveness of the proposed new control method is confirmed through experimental results.