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 onethirty 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.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2010 5月|
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