Load-swing suppression control using an omnidirectionally movable multi-rotor in 2D-horizontal plane
- PDF / 1,549,425 Bytes
- 9 Pages / 595.276 x 790.866 pts Page_size
- 35 Downloads / 142 Views
ORIGINAL ARTICLE
Load‑swing suppression control using an omnidirectionally movable multi‑rotor in 2D‑horizontal plane Ryota Mino1 · Shinsuke Kanda3 · Keigo Watanabe1,2 · Isaku Nagai1 Received: 23 June 2020 / Accepted: 15 August 2020 © International Society of Artificial Life and Robotics (ISAROB) 2020
Abstract In this paper, a method for controlling the swing of loads is proposed by applying forces to a suspended load directly, instead of controlling a suspending machine itself, such as a helicopter and a crane. A special multi-rotor capable of moving in the level surface is developed to control the swing of loads. First, to create a model for controlling the swing of loads, a drone model is used to model a multi-rotor that can generate forces in (x, y)-directions and also produce a torque for yaw-rotation, and has four special coaxial rotors, while a double spherical pendulum is used as a rope model which hangs the multi-rotor. Moreover, in what is called a control allocation problem that determines the number of revolutions of each rotor, assume that the number of revolutions for each rotor consists of one for generating two forces in translational motion, and of one for generating one torque in rotational motion. Then, the number of revolutions for plane movement is first decided at the 1st step, and the number of revolutions for a torque required for yaw motion is next decided from the difference between the torque generated by the translational forces decided at the 1st step and the target torque. Finally, the validity of the proposed load-swing suppression control is verified with simulations. Keywords Multi-rotor · Suppression of load swing · Coaxial rotors · Control allocation
1 Introduction There are a wide variety of methods for transporting luggage, where a suitable method is selected according to the environment, the target to be transported, and the cost. Among them, a method of transporting some loads with This work was presented in part at the 25th International Symposium on Artificial Life and Robotics (Beppu, Oita, January 22–24, 2020). * Keigo Watanabe [email protected]‑u.ac.jp Ryota Mino mino‑[email protected]‑u.ac.jp Shinsuke Kanda [email protected] Isaku Nagai [email protected]‑u.ac.jp 1
Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan
2
BIT, Beijing, China
3
Advanced Research Center, TADANO Ltd, Takamatsu, Japan
wire ropes, which are hung down from helicopters or cranes, is well known generally. However, in such a transportation method that hangs on the wire rope, there are some problems such as work delays and accidents due to the swing of loads, which appears around the fixed part of wire rope. At present, to carry out transportation work safely and quickly, it often depends on the experience and intuition of the operator. Therefore, to make non-experts work efficiently and safely, control of suppressing the swing of loads required during transportation becomes an important issue. To solve this problem, Sonobe et al. [1] define
Data Loading...
