バックステッピング法に基づく旋回クレーンの振れ止め制御

抄録

The basic motions of the slewing crane as construction machines are classified into cargo windup, boom derricking and boom slewing. The purposes of controlling the crane are to transfer the cargo to the target point as quickly as possible with suppressing the swaying and to quickly minimize the residual sway at the target point. At present, the crane operation depends on the skill and sense of the operator, so its automatic operation is desirable from the standpoint of economy and safety. Concerning the anti-sway control of a rotational crane, several methods are known; that based on an optimum reference pattern suppressing the swaying, that based on the feedback control system using a linear approximation around θ, and that based on θ=tan^-1F(x,y) proposed by authors. However, the first and the second methods are not effective for the disturbance such as a wind, and the third one is unstable when the denominator =0 of tan^-1F(x,y). So, we have developed the method based on the idea of the backstepping approach and have got remarkable effects.