Estimation method for sway angle of payload with reaction force observer

Shimpei Ohtomo, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

With the international trade, worldwide demand for overhead cranes is increasing. It is difficult to operate cranes and expert skill is needed due to their underactuated system. This is one of the biggest problems. However, this problem can be solved by automatic control and assist control. Operators are not needed in automatic control and it can reduce the cost and the risk of accidents due to negligence of operators. Assist control can help operators to operate crane and it also can prevent accidents. Many researches on automatic control and assist control have been already done. However, there is another problem. The problem is that the sway of a payload cannot be measured accurately with a sensor. This problem can decrease the efficiency of operators. In this paper, we propose a new method to measure the sway angle of the payload without the sensor. Using the reaction force observer, the power of the motor to suspend the payload with a rope can be estimated and we can estimate the sway angle. The efficiency of this method is verified by simulations and experiments.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages581-585
Number of pages5
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • Crane
  • Reaction force observer
  • Sensorless
  • Underactuated system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Ohtomo, S., & Murakami, T. (2014). Estimation method for sway angle of payload with reaction force observer. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 581-585). [6823346] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823346