Estimation method for sway angle of payload with reaction force observer

Shimpei Ohtomo, Toshiyuki Murakami

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ581-585
ページ数5
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3 142014 3 16

出版物シリーズ

名前International 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

ASJC Scopus subject areas

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

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