TY - GEN
T1 - Experimental Verification on the Rotational and Sway Control of a Suspended Horizontally Movable Multi-Rotor
AU - Miyamoto, Kazuya
AU - Kanda, Shinsuke
AU - Watanabe, Keigo
AU - Nagai, Isaku
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/8
Y1 - 2021/8/8
N2 - Suspending and transporting a load is met in many situations. However, it has been regarded as a problem because it leads to a decrease in work efficiency and an accident if the load is oscillated or rotated during transportation due to disturbances caused by winds or operational errors. As a countermeasure to this problem, a method for controlling sway and rotation with a suspending machine has been studied. However, such a method can only control swaying and not rotation, and are not applicable to all transport machines or aircrafts. Therefore, in this research, it is aimed at controlling the tip of the wire directly by using a horizontally movable multi-rotor, which is applicable to all types of suspending machines or aircrafts and can control the rotation as well as the swing. Then, a rotational control experiment and a sway control experiment are conducted using the developed horizontally movable multi-rotor to verify its usefulness for the sway and rotational motions.
AB - Suspending and transporting a load is met in many situations. However, it has been regarded as a problem because it leads to a decrease in work efficiency and an accident if the load is oscillated or rotated during transportation due to disturbances caused by winds or operational errors. As a countermeasure to this problem, a method for controlling sway and rotation with a suspending machine has been studied. However, such a method can only control swaying and not rotation, and are not applicable to all transport machines or aircrafts. Therefore, in this research, it is aimed at controlling the tip of the wire directly by using a horizontally movable multi-rotor, which is applicable to all types of suspending machines or aircrafts and can control the rotation as well as the swing. Then, a rotational control experiment and a sway control experiment are conducted using the developed horizontally movable multi-rotor to verify its usefulness for the sway and rotational motions.
KW - Horizontally Movable Multi-Rotor
KW - PID Control
KW - Rotation Control
KW - Sway Control
UR - http://www.scopus.com/inward/record.url?scp=85115155201&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85115155201&partnerID=8YFLogxK
U2 - 10.1109/ICMA52036.2021.9512800
DO - 10.1109/ICMA52036.2021.9512800
M3 - Conference contribution
AN - SCOPUS:85115155201
T3 - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
SP - 692
EP - 696
BT - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Y2 - 8 August 2021 through 11 August 2021
ER -