クレーン自動運転システムの開発

— 振れ止めの自動調整について —

抄録

When loads are carried by the crane which consist of a trolley and hoist wire, 2-step acceleration method is one way used to reduce pendulation above a target point. But this method does not always sufficiently reduce pendulation when it is used in open-loop control system. The causes of remaining pendulation are error between control velocity and sensor feedback, difficulty to generate velocity pattern in advance analytically when hoist movement and traverse movement are wrapped and so on. Here we propose automatic pendulation reduction method utilizing phase plain.