학술논문
Gain-Scheduled Control of a Tower Crane : Verification Test of an Actual Tower Crane(Dynamics & Design Conference 2009) / タワークレーンのゲインスケジュール制御 : 実機試験による検証(<特集>D&D2009)
Document Type
Journal Article
Author
Source
日本機械学会論文集 C編 / Transactions of the Japan Society of Mechanical Engineers Series C. 2010, 76(765):1155
Subject
Language
Japanese
ISSN
0387-5024
1884-8354
1884-8354
Abstract
A crane mounted on a tower-like flexible structure called Tower Crane has a problem that fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Our objective is to reduce both the sway and the vibration using the controller for motors which drive the boom, while an operator gives some commands to transfer the load. We have proposed the gain-scheduled H_∞ control method to design the controller, and have already shown its efficiency for a one-thirty fifths scale model of the tower crane. In this paper the controller for an actual tower crane is designed and implemented in the existing control system and its effectiveness is verified from the experimental results.