Improvement of the Anti-Sway Control in Transfer Cranes Using an Accurate Image Measurement

从安全性和自动化的角度出发，研究了在提高吊具摆动测量精度的基础上，提高集装箱搬运过程中吊具抗摆动控制的性能。在小车位置下，由于边界条件的变化，CCD摄像机的梁-小车系统的振动特征频率不能由梁上的应变片准确给出，摄像机角度的挠度难以用应变片信息的特征振动的线性组合来表示。然后考虑直接测量相机的偏转角度，提出了一种基于卡尔曼滤波和最大似然法的小车加速度传感器测量方法。该方法在桥墩和金属杆异常诊断上的两个应用表明了该方法的有效性。然而，由于基于图像数据处理时间的采样频率不足，对工作环境的耐久性，需要定期维护，以及增加加速度传感器的测量系统成本增加，建立了起重机的动力学模型，提出了一种仅使用两个加速度传感器而不使用CCD摄像机的防摇控制系统，该系统不仅可以测量吊具箱的位移和速度，还可以测量吊具箱的摆动和旋转。考虑实际参数的数值仿真表明了所提测控系统的有效性。上述结果的详细信息如下面的参考文献所示。

It was studied based on the improvement of accuracy in measuring the sway of spreaders to achieve higher performance of anti-sway control in the operation of containers by transfer cranes from the viewpoints of safety and automation. Since the characteristic frequencies of the vibration in the girder-trolley system, where a CCD camera was attached, couldn't be given accurately from the strain gauges on the girder because of the variation of boundary conditions under the position of trolley, it was found that the deflection of the camera angle was difficult to express as a linear combination of characteristic vibrations based on the information from strain gauges. Then we considered measuring directly the deflection angle of the camera and proposed an approach based on the Kalman filter and maximum-likelihood method using two acceleration sensors on the trolley. The usefulness of the approach was shown by two applications on anomaly diagnoses of bridge piers and metal poles which were presented at the symposiums shown in references below. However, due to an insufficient sampling frequency based on the processing time of image data, the endurance for the environment under operation, the need of regular maintenance, and the increasing cost of measuring system by adding acceleration sensors, we constructed the dynamics model of the crane and proposed an anti-sway control system which used only two acceleration sensors without using CCD camera to measure a displacement and a velocity of not only the sway but also the rotation of spreader-container. The usefulness of the proposed measuring and control system was shown by the numerical simulations considering practical parameters. Details on above results were presented as the article shown in references below.