オープンループによるタワークレーンの振れ止め制御を目的とした旋回の加速度パターン(機械力学,計測,自動制御)

抄録

Concrete placing in the construction of dam is carried out by tower crane. Shortening the cycle time for the carriage and placing is a very important issue and a variety of feedback control methods have been proposed to avoid the generation of the residual vibration at the placing position. Because both the acceleration in the rotational direction and the centrifugal force in the radius direction act on the hanging load, the dynamics is equivalent to that of a spherical pendulum and the control strategy for the tower crane is much more complicated than for a simple crane whose dynamics is equivalent to a single pendulum. Considering the cost and the breakdown of the measurement hardware, the construction of open loop control method is strongly expected for the practical usage. In this research, we propose a acceleration pattern based on the nonlinear dynamics of the tower crane in the acceleration and realize the antisway open loop control.