Robust control fo the crane based H infinity control theory

本文研究了行走式起重机和旋转式起重机的防摆控制。当起重机的载荷被运送到目标位置时，一阵风和载荷变化等扰动会使起重机摇摆，而且，除非这种摇摆完全停止，否则我们无法降低起重机。目前，起重机的操作主要依赖于操作人员的技术和感官，从安全、经济运行的角度出发，要求起重机实现自动化操作。本研究利用多变量控制理论，开发了一种能同时控制速度和位置的控制系统，对行走式起重机的控制系统，分别于1998年和1999年、2000年开发了基于状态反馈控制理论的控制系统，1999年和2000年开发了基于H ∞控制理论的控制系统。通过实验验证了该系统的减摇控制效果。2001年开发了考虑控制器和执行器之间的传输延迟的系统，并在仿真中确认了显著的效果。对于旋转起重机，我们于1999年开发了使用非线性控制器的控制系统，并在2000年通过实验系统确认了显著的控制效果。有关商业和技术的报纸和日本贸易振兴机构出版的杂志：New Technology Japan介绍了这些结果。根据这些结果，我们在2001年建立了一个新的控制理论的旋转对象的运动。在今后的工作中，我们将设计系统考虑上升和下降的臂。

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.