Control of A Tower Crane without Sensor for Load-Rope Angle (2DOF Control Using Final-State Control Method with Error Learning)

Kiyoshi Takagi, Hidekazu Nishimura, Yuko Uchida

研究成果: Article査読

4 被引用数 (Scopus)

抄録

This paper deals with control of a crane mounted on a tower-like flexible structure called the “Tower crane” by using no sensor for the load-rope angle, since it is difficult to put the sensor on a real tower crane. We make its models and design the two-degree-of-freedom control system. The feedback controller that does not use the sway angle signal is designed by considering the coupling between the load sway and the crane itself. The feedforward input is designed by the final-state control method with error learning. By experiments it is verified that the 2 DOF controller without the sensor for the load-rope angle has almost same performance as the feedback controller alone with the sensor.

本文言語English
ページ(範囲)999-1007
ページ数9
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
67
656
DOI
出版ステータスPublished - 2001
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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