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Yuji Todaka
Fuji Electric Co.,Ltd
1, Fuji-cho, Hino-shi, Tokyo 191-8502, Japan
Abstract : On the traveling crane the various methods such as fuzzy control and optimum control are studied. I n the control of actual traveling crane, it is important to accurately stop the crane for the goal position b y positioning control and anti-sway control. I n this paper, we used the H, control theory which can keep the good performance, even i f there are modeling errors and parameter variations, and designed the control system by the loop shaping method. The simulation using the non-linear approximation model indicates the good performance.
Key Words: Crane, State feedback control, H, control, Anti - sway control
1 Introduction
For the anti-sway control of traveling cranes, there are several solutions, i.e., by fuzzy control['], optimal control theory[", etc. and each of them is reported to be effectivec3]. The development of the
control system design method comparatively simple is an important theme for the field engineers. In the control system design, the controller is generally designed by using the mathematical model of the controlled object. On the other hand, it is impossible to make the model in which accurately exepresses the characteristics of the controlled object. Therefore, the controller obtained by the design is not always good for the accrual system, even if it is good for the mathematical model.
Fig. 1 is a model of controlled object, where x is the position of the trolley, 1 the rope length, m the mass of load, M the mass of trolley, 8 the sway angle of load, and U the external force. For the model shown in Fig. 1, the equation of motion for the trolley can be expressed by
Mjt=u-mjt,
x, =x-ZsinO
m ~= e -mg sin e + F, F, = lnjtcose
(M + m ) i +mZb2sin 8 = mlecos 8 + U
(1)
Also the equation of motion relating to the load can be expressed by (2)
In this paper, we used the H, control theory which is a robust control technique for modeling error and parameter variation: and we contirmed the effect by simulations.
+ g sin e = i c o s e
(3)
Controlled object
Upon approximating of these equations around e=O and using the stepping motor for driving the trolley, equation(3) is transformed into the following equation.
ze+ge=i
jj=U
(4)
From the above equation, the state-space equation of traveling crane can be expressed by
x
Fig.1 Crane Model
= A,X
+ B,U
>
(5)
Y=C,X
AMC2000-NAGOYA
x=[x
where
li-
e e],
0 0 0
-0 1 0 0 Ap = 0 0
0rO0 1 1 BP=o 1 g 0 0 0 - 1 -
00 0 1
cP=
-1 -
w31
p=
[*]
Dwlcp
P ,=
*Y
Fig.2 Block diagram Let us consider a system shown in Fig.2, in order to design a control system which follow a reference input and is robust against disturbances and parameter variation. In Fig.2, P is the plant, K the controller, W,, W,, W31 and P, the weighting functions, r the control input, d the disturbance, y the measured output, and zl, z, the controlled outputs. Generalized Plant : G
G=
'wl
Bi2 Dw1Dw31 Dw1Dw32, A,, c w 2 ........................................................ I............. Dw2 ..................................................... * 0 Cp 0 Dw3, DW3, i 0
1 1
1 1
[]:
[:] ]: [
{
G1l ' I 2 ]
G 2 2
G 2 1
,_____________________ .
dIT=W
(12) from w to z can be
u=Ke.
Then transfer function expressed by
Fig.3 Block diagram of the &,control From Fig.2, H, control system can be expressed a s shown in Fig.3. From Fig.3, the generalized plant G including the weights can be expressed by
lyw3i
(13) z = QW = G,, + G,,K(I - G,,K)-'G,, As well using H, control theory we can obtain such controller K as satisfy the condition that 1) @ is internally stable, 2) IIQllr<y ( Y : Given positive number)
)..
Kpw
0
-Fp1
w 2
on the assumptions that a l ) (A B , ) is stabilizable, (C2 A ) is detectable, a2) D,, is column full rank, D,, is row full rank a3) G,, and G,, have no invariant zeros on the imaginary axis.
G=
(7)
[I=+]
For the weighting functions W, we considered that W, is a weight related to steady-state characteristics and quick response, W, a weight related to stability, W3, a weight related to a reference input, and P, a weight related to the disturbance and we chose the following weights based on the idea mentioned above.
132
............... ........
........ ................... ..... , , ,
5
IO
0 20
5
0 0
50
2 O1
, 0
,
9
,
31
(0
I5
45
91
O 0
Sk
For W,, k , , , is determined so as to restrict the control input, and 1 and h f, determined so as not to be affected by noise. W, consequently is as follows.
time [sec]
J
1
,
, ,
,,
, ,
, ,
. . . . . . .........:.........:.........:.........:......... ;
I I I I I
,.
,,
I
,
,
,.........,,......... ~
, ,
1
,,
,,
,,
,,
, ,
I I
, ,
, /
, ,
I
S+lf
.........: .........:.........:.........;.........; , , , ,, , , , , , ~ , ,, $L I..........: .........: :......... :......... I , ........: , ......... , , ........1 ,.........: , ,.........:......... , , , , 0 5 1 0 I5 1 X 3 2 M 45 5D
.
I
time [sec]
0 1 0 0
Dw31=
o o l o ]
0 0 0 1
0 0 0 0
For P,, Bw32 is determined by considering the disturbance and Dw32 is determined by considering the sensor noise. ro 01 ro.5 01 5 0 0 0 Bw32 = Dw32 = 0 2 0 0 0 8 0 0
I yo.
I
lo4
.c
.z
I
.*I
I
.J
I
."I
I
."I
lo'
frequency [radlsecl
Simulation results
frequency [radkec]
Fig. 4 shows results of simulation. I n Fig. 4, the reference position of 50 cm was given first, and after 20 seconds a n impulsive disturbance was given. As a result, the position quickly followed the reference value, and even if a disturbance was added to the system, the error from the reference value was small. Fig. 5 shows the Bode diagram for the controller. I t is seen from the analysis of Fig.5 that the controller for the trolley position X has the function of PID controller, and the controllers for the trolley velocityi , the sway angle 8 and the sway angular velocity 6 have that of PD function respectively. Consequently, the quick response, the steady-state error and the stability are satisfied for the 8 , and it is seen for
Fig.6 shows the poles of the controlled object described by 0 ,and the dominant poles of the closed loop system described by X . I t is seen that the poles of the controlled object on the imaginary axis are moved to the left-half plane by H, control.
i , 8 , 6 that both the quick response and the stability are satisfied.
133
I 3
I 2
real axis (0;poles of plant, X idominant poles of closedk loop system) Fig.6 Poles
Conclusion
The effect of H, control system was confirmed by simulation. And we will confinm the performance by experiments.
6 References
[11 Ito , Migita , Irie , Itou Nyuui Maihara Applivation of fuzzy control to automatic crane operation (in Japanese) Journal of Japan Society for Fuzzy Theory and Systems, vo1.6,N0.2,pp.402-411, 1994 [21 Yosida, kawaji, Mita, Hara, mechanical system control (in japanese) Ohmsha,Ltd, 1984
[31 Ouchi, IGkuchi, Todaka, Anti-sway Contlrol of a Traveling Crane using State Feedback Control (in Japanese) Proceedings of the 37 SICE Annual Conference, p p l l - 12, 1998
[41 K. Glover & J.C.Doyle, State- Space Formulas for All Stabilizing Controllers that Satisfy an H a - n o r m Bound and Relation to Risk Sensitivity Systems & Control Letters, 11,167,1988
134