Swing-Motion Control System Design for the Crane Based on Simultaneous Optimum Design Approach

구조제와 제어계의 통합적 설계법을 이용한 크레인의 Swing-Motion 제어계 설계

  • 장지성 (부경대학교 공과대학 기계공학부) ;
  • 김영복 (부경대학교 공과대학 기계공학부)
  • Published : 2005.05.01


The swing motion control problem of a container hanging on the trolly is considered in the paper. 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, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. And, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called 'Structure/control Simultaneous Method' is used. In this paper, the simultaneous design method is used to determine the optimum weight of moving mass such that the optimal system performance would be achieved. And the experimental result shows that the proposed control strategy is useful to the case of that the controlled system is exposed to the uncertainties and, robust to the unexpected disturbance inputs.


Swing Motion Control;Trolley;Moving-Mass;Spreader;Container Crane;Simultaneous Optimum Design


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