두 축이 동시에 운동하는 비선형 천장 크레인의 부분상태 궤환제어 알고리즘 개발

Development of partial state feedback control algorithm for nonlinear overhead crane whose two axes are moved simultaneously

In this study, when the nonlinear overhead crane which allows simultaneously travel and traverse motion moves a desired transport route, the object suspended the end of rope does undesirable swing motion. Nonlinear overhead crane pertubes in the vicinity of an operating point, therefore the nonlinear overhead crane is modified to linear overhead crane for the operating point. The linear overhead crane was controlled to swing angles of the object by the ratio of torque inputs to motors of the girder and the trolley. As a basis for the result of the linear overhead crane, the nonlinear overhead crane was controlled swing angles of the object and positions of the overhead crane without collision with environmental equipment by partial state feedback control.