TY - GEN
T1 - Estimation method for sway angle of payload with reaction force observer
AU - Ohtomo, Shimpei
AU - Murakami, Toshiyuki
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
KW - Crane
KW - Reaction force observer
KW - Sensorless
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=84903172684&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903172684&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823346
DO - 10.1109/AMC.2014.6823346
M3 - Conference contribution
AN - SCOPUS:84903172684
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 581
EP - 585
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -