|Budget Amount *help
¥3,700,000 (Direct Cost : ¥3,700,000)
Fiscal Year 2001 : ¥500,000 (Direct Cost : ¥500,000)
Fiscal Year 2000 : ¥500,000 (Direct Cost : ¥500,000)
Fiscal Year 1999 : ¥1,900,000 (Direct Cost : ¥1,900,000)
Fiscal Year 1998 : ¥800,000 (Direct Cost : ¥800,000)
This research treats the anti-sway control of the traveling crane and the rotational crane. When carrying the load of the crane to the goal position, the disturbances, such as a gust of wind and a change of load swing it. And furthermore, we cannot lower it unless this sway stops completely. At present, the crane operation depends on the skill and senses of the operator, so its automatic operation is longed from the standpoint of the safety and economic run. In this research, we developed a control system which can suppress the sway of the load, by using the multivariable control theory which can control both the speed and position simultaneously.
As for the traveling crane, we developed the control system by the method based on state feedback control theory in 1998, and that based on H infinity control theory in 1999, and in 2000. In the experiments, the anti-sway control effects of these systems were confirmed. In 2001, we developed the system considering transmission delay between the controller and the actuator, and confirmed the remarkable result in simulations.
As for the rotational crane, we developed the control system using a non-linear controller in 1999, and confirmed the remarkable control effects by the experimental system in 2000. These results were introduced by the newspaper regarding business and technology and the journal published by Japan External Trade Organization : New Technology Japan. From these results, we built a new control theory of the movement of a rotational object in 2001. In future works, we will design the system considering the rising and falling of the boom.