SWING STOP CONTROL METHOD AND CONTROL DEVICE OF ROTARY CRANE

摘要

PROBLEM TO BE SOLVED: To provide a swing stop control method and a control device of a rotary crane, which implement a continuous swing stop control of the rotary crane, without having a singular point caused by a rotary angle θ.;SOLUTION: In the control method for calculating a control input for driving the rotary crane in accordance with a control rule based on a equation of motion on the rotation of a boom for carrying a suspended load, the control input is calculated with a modified backstepping method using the target rotary angular velocity of the boom, a target rotary angle of the boom, a horizontal rotary radius of the boom, an actual rotary angle of the boom fed back from the rotary crane, position in the x-direction and position in the y-direction of the suspended load in the horizontal surface, velocity in the x-direction and velocity in the y-direction of the suspended load, feedback gains, and constants.;COPYRIGHT: (C)2011,JPO&INPIT