著者

穴吹 雅敏 安原 和宏 平田 弘志

出版者

東海大学

雑誌

東海大学紀要. 電子情報学部 (ISSN:13472666)

巻号頁・発行日

vol.2, no.2, pp.27-32, 2003-03-31

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In various operating of a crane, the fixed coefficient controller is not suitable to obtain the good control performance, because of the crane characteristic fluctuates by change of the suspended rope length and the suspended load. In case of the rotational crane, moreover, we also must be consider the effect of corrugation angle in order to acquire sufficient performance. In this paper, we propose a strategy of control for the rotational crane using variable pole assignment method in which closed loop poles of control system becomes fixed values for the change of the rope length, the change of the corrugation angle and the change of the load. The effectiveness of proposed control system is confirmed by the computer simulation, in addition, it was also confirmed from the experiment on anti-sway control of actual rotational crane.