Gain-Scheduling 기법을 이용한 크레인의 흔들림 제어에 관한 연구

• 영문명: A Study on the Sway Control of a Crane Based on Gain-Scheduling Approach
• 발행기관: 군산대학교 수산과학연구소
• 저자명: 김영복(Young Bok Kim)
• 간행물 정보: 『군산대학교 수산과학연구소 연구논문집』제5집, 148~159쪽, 전체 12쪽
• 주제분류: 농수해양 > 해양학
• 파일형태: PDF
• 발행일자: 2004.07.03

영문 초록

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks. is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

목차

ABSTRACT

1. 서론

2. 제어대상의 모델링

3. Gain-Scheduling 기법을 이용한 제어기의 설계

4. 시뮬레이션 및 고찰

5. 결론

후기

참고문헌