吊り荷ロープ長の変動を考慮したタワークレーンの振れ止め制御

摘要

Open loop control for the tower crane whose length is time varying is proposed to reduce the residual response amplitude. Different from traveling crane, because the system is described as 2 degrees of freedom system even in the case without variation of the length, a special strategy is required in the design of the acceleration pattern for the open loop control. By introducing the nonlinear time scales, we modify the acceleration pattern in the case without time-variation of the length proposed in our pervious research. We carry out the open loop control by applying the proposed acceleration pattern. We perform the numerical simulation for the analytical model whose validity is experimentally verified. The comparison of the residual amplitude under the conventional method and the proposed method shows the effectiveness of the proposed control method for the practical use.%ダム用タワークレーンは，ブームの旋回および起伏rnと吊り荷の巻き上げ（下げ）により，コンクリートを所rn定の位置まで運搬する大型の荷役機械である．クレーrnンのブーム先端は円弧状の軌跡を描き，吊り荷には旋rn回方向の同方向加速度と動径方向に遠心力が働くたrnめ，2次元的な運動となり，そのダイナミクスは走行rnクレーンのそれとは大きく異なる．