2023 年 89 巻 924 号 p. 23-00021
In this study, methods for automatically controlling load transportation by a swivel crane with high speed and suppressed swing motion of suspended load at the target position are proposed. First, highly versatile trajectories for each of swivel and straight transport of load are proposed on the basis of a linearized and simplified analytical model and the optimal control theory. The proposed method has the versatility that it can be applied even with different swivel radii and swivel angles. The effectiveness and limitations of the proposed methods are shown with computer simulations and experiments with a laboratory model. Next, we propose a new method that expands the proposed method and uses the measurement data of the swing information of the load. It is shown that by using this method, even if the load swings at the start of transport, it is possible to suppress the swing of the load at the target point of transport.
