EARTHQUAKE RESPONSE CONTROL METHOD AND APPARATUS FOR TOWER CRANE

摘要

PROBLEM TO BE SOLVED: To enable earthquake response control by only operation force which a tower crane naturally has. SOLUTION: An earthquake response control apparatus includes: a low-dimensional model deriving means 11 to derive revolving direction and derricking direction low-dimensional model with an earthquake disturbance related to the revolving direction and the derricking direction of a revolving frame taken into consideration; a parameter variation model deriving means 12 to deform the revolving direction and derricking direction low-dimensional model to a revolving direction and derricking direction parameter variation model related to the size of the earthquake disturbance based on the fact that there are limits to speed command values of a revolving motor and a derricking motor; and a controller 6 having a gain scheduled control system means 13 to input a control command in accordance with the size of earthquake acceleration to the revolving motor 3 and the derricking motor 5 by applying a gain scheduled control theory based on a linear matrix inequality to the parameter variation model. COPYRIGHT: (C)2009,JPO&INPIT