Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2004.11a
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- Pages.631-636
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- 2004
A Study on the Sway Control of a Container Crane with Varying Rope Length Based on Gain-Scheduling Approach
로프 길이 변화를 고려한 크레인의 흔들림 제어에 관한 연구;Gain-Scheduling 기법에 의한 제어기 설계
Abstract
The sway 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. Especially, we apply the
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