Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of the Position Control Algorithm for Nonlinear Overhead Crane Systems

비선형 천장 크레인시스템의 위치제어 알고리즘 개발

  • 이종규 (대구효성가톨릭대학교, 기계ㆍ자동차공학과) ;
  • 이상룡 (경북대학교 기계공학부)
  • Published : 2000.04.01
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Abstract

An overhead crane system which transports an object by girder motion, trolley motion, and hoist motion becomes a nonlinear system because the length of a rope changes. To develope the position control algorithm for the nonlinear crane systems, we apply a nonlinear optimal control method which uses forward and backward difference methods and obtain optimal inputs. This method is suitable for the overhead crane system which is characterized by the differential equation of higher degree and swing motion. From the results of computer simulation, it is founded that the position of the overhead crane system is controlled, and the swing of the object is suppressed.

Keywords

References

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