逆動力学計算に基づくクレーンのフィードバック制御

抄録

This paper discusses control method for crane using inverse dynamics calculation of the system. The load of crane is generally easy to swing and thus the work using the crane is dangerous. For preventing the swing of the load, it is desirable to feedback the position of the load in a control method. As such a control law, state-feedback control based on linearization of the crane system is often used. However the method reduces control performance when rope length is changed, because of non-linearity of the system. In this paper, a new feedback control method is proposed where the inverse dynamics calculation is involved to compensate non-linear dynamics of the system. In the control system, an observer is used to get higher order derivatives of the position of load, which is needed for the inverse dynamics calculation. By using the control method, control performance is unchangeable for changing rope length. Numerical simulation and experiment are shown to verify the effectiveness of the proposed control method.