DOI QR코드

DOI QR Code

A Nonlinear Model-Based Anti-Swing Control for Overhead Cranes with High Hoisting Speeds

권상/권하 속도가 큰 경우 크레인의 비선형 무진동 제어

  • Published : 2001.09.01

Abstract

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

Keywords

Overhead Crane;Anti-swing Control;Load Hoisting Motion;Lyapunov Stability Theorem

References

  1. 이호훈, 조성근, 1997, '2차원 천정크레인의 위치 및 부하의 흔들림 제어,' 대한기계학회논문집(A), 제21권, 제10호, pp. 1683-1693
  2. Lee, H.-H., 1998, 'Modeling and Control of a Three-Dimensional Overhead Crane,' ASME Trans., J. of Dyn. Sys., Meas., and Cont., Vol. 120. No. 4, pp. 471-476
  3. Press, W., Flannery, B., Teulkosky, S., and Vetterting, W., 1986, 'Numerical Recipes: The Art of Scientific Computing,' Cambridge
  4. Mita, T. and Kanai, T., 1979, 'Optimal Control of the Crane System Using the Maximum Speed of the Trolley,' 日本 計測自動化制御學會論文集, pp. 125-130
  5. Ridout, A. J., 1987, 'New Feedback Control System for Overhead Cranes,' Electric Energy Conference, Adelaide, pp. 135-140
  6. Ohnishi, E., Tsuboi, I., Egusa, T., and Uesugi, M., 1981, 'Automatic Control of an Overhead Crane,' IFAC World Congress, Kyoto, Japan, pp 1885-1890
  7. 이호훈, 조성근, 1997, '천정크레인 부하의 위치 및 흔들림 제어,' 대한기계학회논문집(A), 제21권, 제2호, pp. 297-304