呂1絲氏41 (課程博士(英文))Date of submission (month day, year)

Department ofSlude11tlD NⅡmber

Mechatlical Engineering
Applicant's nanle

July 081h, 2020

Prof. Naoki uchiyama

D1551B
SupelvisoTS

ASSOC. prof TomoakiMash加0

HODUCTHO

Abst"ad (Doctor)
Title ofTI〕esis

Load swing and skew vibration suppression and Excitalion controls ofcrane systems

Approx.80o words

Transportation of heavy and hazardous pay}oads at various places such as harbors, factories,SI〕1Pyards, etc. is n]̲ainly Cω'ried out by 口'anes. AⅡ types of 磁'anes shal'e a colnmon structure, i.e.,
the payload is suspended under a tr0Ⅱey ol a boon) tip by aexible ropes.1ha'ef飢'e, pendU11U〕〕・1iken〕otions oftl)e payload ca11ed vibl'ations are induced when actU飢ors statt to exert accelerations ond)e payload through ropes.1n fact, there 砥'e two lypes of vibtations present in Ⅸ'ane systems. The丘rst type is swing vibration, which occurs when changing tl)e payload position, The second is ske、刃Vibration, which happens when adjustinσ the payload orientation、 The swing vibration is sphericalPendulun)・1ike wl〕a'eas dle skew vibration is torsional pendulun〕・1ike. The central concept of 仇'aneControlis to manipulate these vibrations as our wish to suit for diff釘'ent engineering purposes. As aresult, a nulnber of ne、入I control schelnes and refined algori{1Ⅱ1〕S ＼NiⅡ be established i11 d〕is
disseltation to address botl) skew and s＼Ning vibration control problems of Ⅸ'anes. The cun'ent
Con]̲n)on scl〕001 0f thoughl views the vibralion as a han)〕ful phenon〕enon thal needs lo beelilninated, n〕akinσ tl〕e vibration suppression control widely studied in a〕e 】it磁'ature. However, tl〕eVibration n〕igl〕t be undesh'able for solne applications but favorable for otl]ers (e.g、 bulk lnaterialtransportation described in chapter 6)、 Hence,仇'ane control sl〕ould 、e pa'ceived il〕 both vibration
Suppression and excitation control perspectives
Part l of this disserta{ion focuses on the ske＼へI vibration contr01 0f 口'ane systen〕S. To solve tl〕erobust control problem ofthe skew {ransfer process il〕t}〕e presence ofparalnetric uncertainties, t＼NOrobust contr0Ⅱers are proposed. First, an lnteglal slidlnσ lnode contr011er is established. A coupledinte町'al siding function is introduced to i11ject ule skew vibration il〕fm'n]ation into d)e contr011aw
to dlive d〕e payload to a desited skew angle wl〕ile effectively dan〕pening out the vibration. Theread〕inσ Phase as found ＼Nith conventional slidinσ n〕ode conれ'0Ⅱers is also canceled.1hus, t11e
robustness can be acl〕ieved at tl)e begi1Ⅱling of tin)e、 second, a dynan〕ic outl)ut feedback H伽Contr011er is also be applied on tl〕e systen) to colnpare with t11e inle即'al sliding lnode contr01.1herobust stability condition of dw HΦ Contr0Ⅱer is pafonned usinσ the μ・synthesiS 圦litl〕 a stluclure
Slngular value criteTion, wh引、eas tl〕e Lyapunov lndirectlnethod is elnployed for tl]e Ⅱ〕tegral sHdlngn]̲ode conれ'0Ⅱer. For both schelnes, an optin〕iza{ion routine based on dle n〕etaheutistic particle
Swann optin〕ization lnecha11isn〕 is established, WI〕ich adopts tl〕e robust slability conditions witl〕

regard to each contr011er as the nonlineal' constraints.＼入lith the proposed optimization procedure,
the minimization of a desirable performal}ce index and robust stabilization of the dosed・10OP
System are sin〕ultaneously guara11teed il) a single 丘'amework.11)rough both random sin〕ulation a11d
experilnentalresults, the integral sliding mode contr0Ⅱer shows its superiority over the HのContr01
Hence,it is the preferable candidate for actualilnplen]entation on u〕e real・size systeln in use atthe
harbor. A switched optimal contr011er is subsequendy introduced to improve transport productivityTI〕e novelty of such an approach is that we can reduce ena'gy consun)ption withouttradinσ・offtl〕e
Sub・optimal transfa' time.1he basic idea is to use a binary actuator‑an electromechanicalClutch‑to il〕te11igently disengage the c01〕1〕ection between the lnotor and the payload during then〕otion so that the payload cal〕 continue to rotate 0111y ＼vith its own mon〕entuln、 TWo solutions,nalnely parucular and general schen〕es, are proposed. P11yslcal conSれ'aints ofthe actuator inclU山ng
bounded velocity and bounded accela'ation ω'e explicitly taken into account. Botl〕 silnulation andexpa'ilnental tesultS 雛'e provided to demonstrate tl〕e effectiveness of the proposed switched
Optinlal control system. comparisons with no・switched tin〕e・optin〕al, input shaping, and integral
Slidlng n〕ode contr0Ⅱers m'e also presented
Pal't 11 0f tl]e dissertation deals with swing vibration control problem of 引'anes. First,n〕1n11num‑tln]e zero‑vibration s・curve colnlnands for an overhead crane al'e establisl]ed. Based on aPosition baseline s・curve, whicl〕 iS σena'ated 丘om a bang・off・bang acceleration 皿'0負le, t＼NOapproaches are proposed to build the vibration suppression capability: embedding and shaplng
Inethods.1n botl〕 schelnes, d〕e baseline s・culve is Pω'alneterized to establish n〕inilnuln‑tilne
Optilnization problelns, in which n〕axin〕111n velocity and n〕aximun〕 accela'ation oft11e actuator are
expHcitly taken into consideration. Minilnunl・time solutionS 田'e successfU11y obtained. onHne
Irajectm、y gena'ation can be achieved using the proposed approach.1n conlpanson lNith related
Studies, the minⅡnun〕・t11ne s‑curve conm〕andS ω'e faster. second, a lnodelrefa'ence input shapinσ
Control wiⅡ be forn〕ulated for a nonHnear luffing dynalnics of a rotary 仇'ane systeln 、vith
tlme・val'ying lope length.1he newly established ted}1)ique is able to con〕pletely suppress dle
residual vibration for a higl)1y nonlinear time・V雛'ying systeln.1he fundan〕entalidea is to lnatch d)ereal vibration of tl〕e systeln with a refa'ence osciⅡation, by which an exact za'o vibration
Suppression can be achieved for tl〕e actual systel)〕. stand雛'd input shaping control desiσns ca1Ⅱ〕ot
Possess such a quality. Flna11y, a vlbration excitation control scl〕eme wi11 be lntroduced for an
Overhead 仇'ane systen〕 in the context of bulk n]̲aterial transportation ＼Nhere the transfe11'ed
Inaterials can be dropped/discharged 、Nhile in tl]e air.1n m'da' to exploit such a lmique feature, anew concept, nan〕ed tosslng control method010gy,1S lntroduced to enhance れ'ansportation
Productivily. A speclfic type of tossing contr011er is proposed, which relies on d〕e phenolnenon of
11near resonance to induce osci11ation in periodica11y lncreaslng amplitude.1t wi11 be shown that theTesonance‑based tossln菖 Control cal〕̲ reduce tl〕e transfer time up t0 26.5% colnpared with theWeⅡ・h)own minim山n・time SWH]g suppresslon

Contr011er‑the fastest member of the S、入11ng

Suppression conh'ol group‑under sln111ar requirements of bulk n〕atenaltransportation, conditions,and actuatot constraints.1hus, it was found thattl〕e vibration suppression controlis not always thebest option in every situation