Experimental evaluation of estimated sway angle of payload in crane systems

Shimpei Ohtomo, Toshiyuki Murakami

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

Nowadays, the world trade volume is increasing. In many countries, the demand for container cranes is very high in order to handle the boomimg trade. The object of the crane system is to load containers between ships and shore. Operators need to convey containers safely and efficiently. However, operation of the crane system requires expert skill because of its underactuated system. Information of the sway angle of the payload is needed to accomplish operators' tasks, but many sensors are used to get the sway angle information. They cost a lot. Therefore, there is demand for the crane system which requires no sensors. In this paper, an estimation method for the sway angle is proposed by using reaction force observer (RFOB) instead of sensors. In the experiments, a method to compensate static friction between the trolley and the rail is proposed because there exists static friction which prevents the trolley from moving on the rail. The efficiency of this method is verified by simulations and experiments.

元の言語English
ホスト出版物のタイトルProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
出版者Institute of Electrical and Electronics Engineers Inc.
ページ146-151
ページ数6
ISBN(印刷物)9781479940325
DOI
出版物ステータスPublished - 2014 2 24
イベント40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
継続期間: 2014 10 302014 11 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
United States
Dallas
期間14/10/3014/11/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • これを引用

    Ohtomo, S., & Murakami, T. (2014). Experimental evaluation of estimated sway angle of payload in crane systems. : Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society (pp. 146-151). [7048491] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7048491