PROBLEM TO BE SOLVED: To provide a transport control system of a liquid tank by an overhead traveling crane and a method for transporting the liquid tank by the overhead crane in which the swinging of liquid in the tank can be prevented.SOLUTION: A transport control system is configured as follows: the shaking of a suspending member 16 for suspending a liquid tank from an overhead crane carriage 14 and the liquid tank and the swing of liquid in the liquid tank are assumed as a coupled model; the feedback control is made by using a shaking angle θ of the suspending member; a traveling command value of the overhead crane carriage and an external force applied on the liquid tank are assumed as an external input; a difference z between a position of the overhead crane carriage and a position of the liquid tank is made a control amount; the mixture H/Hcontrol method is used to design; an integrator or a low pass filter is used in a frequency weighting function Wof the Hcontrol; a frequency weighting function Wof the Hcontrol is designed to comprise a multiplicative error between a nominal rate model without considering the liquid swing in the liquid tank and the coupled model; and thereby the overhead crane carriage is controlled.SELECTED DRAWING: Figure 1

    【課題】タンク内の液体の揺動を抑制することができる天井クレーンによる液体タンクの搬送制御システムおよび天井クレーンにより液体タンクを搬送する方法を提供すること。【解決手段】液体タンクを天井クレーン台車14から吊り下げる吊下部材16と液体タンクの揺れと、液体タンク中の液体の揺動とを連成系モデルとし、吊下部材の揺れ角θを用いてフィードバック・コントロールをし、天井クレーン台車の走行指令値と液体タンクに作用する外力とを外部入力とし、天井クレーン台車の位置と液体タンクの位置との差zを制御量として、混合H2/H∞制御手法を用いて設計し、H2制御の周波数重み関数W2では積分器またはローパスフィルタを用い、H∞制御の周波数重み関数W∞は液体タンク中の液体の揺動を考慮しないノミナルモデルと前記連成系モデルとの乗法的誤差を包含するように設計し、天井クレーン台車を制御する。【選択図】図1


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    Title :

    TRANSPORT CONTROL SYSTEM OF LIQUID TANK BY OVERHEAD TRAVELING CRANE AND METHOD FOR TRANSPORTING LIQUID TANK BY OVERHEAD CRANE


    Additional title:

    天井クレーンによる液体タンクの搬送制御システムおよび天井クレーンにより液体タンクを搬送する方法


    Contributors:

    Publication date :

    2017-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES / B22D CASTING OF METALS , Gießen von Metallen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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