抄録
This paper deals with control of crane tele-operation system considering power assisted conveyance. We design a new crane tele-operation system using zero phase notch filter and model predictive control. We apply the zero phase notch filter to power assist controller in master enviroment and apply the model predictive control to feedback controller in slave enviroment respectively. The zero phase notch filter enables to modify frequency characteristics of operating torque without signal distortion on the line in oder to suppress vibration of the load-rope of crane. The model predictive control enables to suppress vibration of the load-rope of crane sufficently in comparison with conventional system. Some results of simulation and experiment are given in order to verify the usefulness of our proposed system.
