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Robust design of vibration suppression control system for crane using sway angle observer considering friction disturbance
Author(s) -
Sano Hiroki,
Sato Kentaro,
Ohishi Kiyoshi,
Miyazaki Toshimasa
Publication year - 2013
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22412
Subject(s) - control theory (sociology) , vibration , observer (physics) , control system , state observer , disturbance (geology) , nonlinear system , engineering , computer science , container (type theory) , control engineering , control (management) , artificial intelligence , acoustics , mechanical engineering , paleontology , physics , quantum mechanics , electrical engineering , biology
Abstract It is desirable for a container crane to operate smoothly and quickly. For this purpose, the control system of a container crane should be capable of antisway control for suppressing vibrations. A vision sensor system is often used to detect the sway angle. However, since a control system with a vision sensor has a delay time when determining the angle, it sometimes leads to deterioration of control performance owing to the delay time. In order to overcome this problem, this paper proposes a new antisway crane control system based on a dual‐state observer with sensor‐delay correction. However, because of nonlinear friction in the crane, the estimation accuracy achieved by using the observer is poor. To overcome this problem, this paper proposes a disturbance observer considering friction disturbance. The control performance and eectiveness of the proposed robust control system based on the estimated information are shown to be satisfactory by experimental results. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 184(3): 36–46, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22412