離散化手法に基づく旋回クレーンの振れ止め制御(機械力学,計測,自動制御)

Rotary crane control based on several discretizing methods has been proposed in this paper. The motion of the crane load is described by a discrete time system by assuming zero order and trapezoidal hold for the boom rotation. The stabilization of the load boils down to a finite settling time problem with constraints. This problem is reduced to solving a 6-th order equation for five step case, and an optimizing problem with constraints for more step case. Various simulation results have been given to show the effectiveness of the proposed method.