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Title :誤差積分を考慮したモデル予測制御の振れ止めおよび位置決め制御への応用
Title alternative :Application of Model Predictive Control Considering Error-Integration to Swing suppression and Positioning
Authors :多田, 泰徳
上里, 英輔
玉城, 史朗
山本, 哲彦
Authors alternative :Tada, Yasunori
Uezato, Eiho
Tamaki, Shiro
Yamamoto, Tetsuhiko
Issue Date :25-Apr-1999
Abstract :This paper proposes Model Predictive Control with I-compensator of PID control to a traveling crane system. I-element improves disturbance removal characteristics of Model Predictive Control. To verify the control performance of the proposed method, we compared the proposed method with former one by swing suppression and positioning control experiment of a traveling crane system. As a result, in the step disturbance case, the proposed method can control the system without offset, but former one can't do. And the control performance of the proposed method under the sinusoid disturbance is superior to former one.
Type Local :雑誌掲載論文
ISSN :03875024
Publisher :日本機械学会
URI :http://hdl.handle.net/20.500.12000/242
Citation :日本機械学会論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C Vol.65 no.632 p.201 -206
Appears in Collections:Peer-reviewed Journal Articles (Faculty of Engineering)

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