Anti-Sway Crane Control Considering Wind Disturbance and Container Mass

作者：Sato Kentaro^*; Ohishi Kiyoshi; Miyazaki Toshimasa

来源：Electrical Engineering in Japan, 2015, 193(1): 21-32.

DOI：10.1002/eej.22580

• crane control
• state observer
• disturbance observer
• disturbance estimation
• model error
• vibration suppression

A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately and must use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, and therefore the observer parameter is not suitable. We already proposed robust antisway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of the friction force. In this paper, we first propose a container mass estimation method when a crane system performs rolling up control. The observer parameter can be selected using the estimated mass value. Second, in crane parallel shift control, we propose a robust antisway control even when there is a wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm through experiments that the proposed method can reduce vibration.

• 出版日期2015-10