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

使用精确图像测量改进转运起重机的防摇摆控制

基本信息

批准号：
14550435
负责人：
YAMANE Kenji
金额：
$ 2.18万
依托单位：
Ube National College of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2003
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550435/
关键词：
Transfer crane Container CCD camera Dynamics model Acceleration sensor Kalman filter Anti-Sway control Improvement of accuracy 姿勢誤差スプレッダ振れ計測振れ止め制御画像処理振れ止め

项目摘要

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.

从安全性和自动化的角度出发，研究了如何提高吊具摆动测量精度，以提高集装箱装卸桥作业过程中的防摆控制性能。由于梁-小车系统中的振动的特征频率，其中一个CCD摄像机连接，不能准确地给出从梁上的应变片，因为边界条件的变化下的小车的位置，它被发现，摄像机的角度的偏转是很难表示为一个线性组合的特征振动的基础上从应变片的信息。然后考虑直接测量摄像机的偏转角度，提出了一种基于卡尔曼滤波和最大似然法的方法，利用小车上的两个加速度传感器。该方法的实用性通过在以下参考文献中所示的研讨会上提出的桥墩和金属杆的异常诊断的两个应用程序来显示。然而，由于基于图像数据的处理时间的采样频率不足、对操作环境的耐受性、定期维护的需要以及通过添加加速度传感器而增加的测量系统的成本，建立了起重机的动力学模型，提出了一种反仅使用两个加速度传感器而不使用CCD照相机来测量吊具的摇摆和旋转的位移和速度的摇摆控制系统，货柜考虑实际参数的数值仿真结果表明了所提出的测量和控制系统的有效性。上述结果的详细信息见下文参考文献中的文章。