Development and Experimental Validation of Nonlinear Control Theory for Tower Cranes

2023 Fiscal Year Final Research Report

• Project/Area Number: 20K04554
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Okayama Prefectural University
• Principal Investigator: Xin Xin 岡山県立大学, 情報工学部, 教授 (70293040)
• Project Period (FY): 2020-04-01 – 2024-03-31
• Keywords: 劣駆動系 / タワークレーン / 振り止め制御 / 非線形制御 / エネルギー制御法 / 安定性解析

Outline of Final Research Achievements

In this study, based on the principal investigator's experience in designing and analyzing nonlinear control systems for multi-degree-of-freedom underactuated robots, a trajectory tracking control rule was designed using a composite signal combining actuated and unactuated variables, leveraging the nonlinear dynamic characteristics and structure of tower cranes. This control rule was used to analyze crane operations and confirm that the objectives of trajectory tracking control were achieved. Furthermore, through experiments, it was demonstrated that the proposed control rule effectively suppresses payload oscillation and allows for precise jib positioning. Additional researches were conducted on damping control and controllability in other underactuated systems, establishing design and analysis methods for damping controls that minimize the real parts of the poles in closed-loop systems.

Free Research Field

制御工学・ロボット工学

Academic Significance and Societal Importance of the Research Achievements

本研究は、自由度と制御入力数の差が2である高劣駆動度のタワークレーンを対象とし、非線形制御理論の構築と実機検証を行った。また、他の劣駆動システムにおける振り止め制御や可制御性に関する研究も行い、閉ループシステムの代表極の実部を最小化する振り止め制御の設計・解析方法を確立した。この成果は他の高劣駆動度のシステムや非線形性が強い様々な対象の高性能制御にも波及効果があると確信される。