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Robust control fo the crane based H infinity control theory

基于H无穷大控制理论的起重机鲁棒控制

基本信息

批准号：
10650438
负责人：
OUCHI Shigeto
金额：
$ 2.37万
依托单位：
TOKAI UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 2001
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650438/
关键词：
Crane Anti-sway Control Hinfinity Control Norm Constraint Non-linear Control Robust Control Optimal Control Modern Control Theory H∞制御サーボ系

项目摘要

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.

本文主要研究了移动起重机和旋转起重机的抗摇摆控制问题。在搬运载荷的起重机到达目标位置时，会受到一阵风等扰动和载荷的变化而摇摆它。此外，除非这种摇摆完全停止，否则我们无法降低它。目前，起重机的操作依赖于操作人员的技能和感官，因此从安全和经济运行的角度来看，它的自动化操作是渴望的。在本研究中，我们利用多变量控制理论，开发了一种可以同时控制速度和位置的控制系统，以抑制负载的摇摆。对于移动式起重机，分别于1998年、1999年和2000年分别采用基于状态反馈控制理论、基于H∞控制理论的方法开发了控制系统。通过实验验证了这些系统的抗摇摆控制效果。在2001年，我们开发了考虑控制器和执行器之间传输延迟的系统，并在仿真中证实了显著的效果。对于旋转起重机，我们于1999年开发了采用非线性控制器的控制系统，并于2000年通过实验系统证实了显著的控制效果。日本对外贸易组织出版的《新技术日本》杂志和《商业与技术》杂志介绍了上述研究结果。根据这些结果，我们在2001年建立了一个新的旋转物体运动控制理论。在以后的工作中，我们将考虑吊臂的升降来设计系统。