The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Robust Adaptive Control of 3D Crane Systems with Uncertainty

불확실성 요소를 갖는 3D 크레인 시스템의 강인적응제어

  • 정상철 (부산대학교 전기.제어계측공학과) ;
  • 김동원 (부산대학교 전기.제어계측공학과) ;
  • 이형기 (부산대학교 전기.제어계측공학과) ;
  • 조현철 (동아대학교 전기공학과)
  • Published : 2008.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents robust and adaptive control method for complicated three dimensional crane systems with uncertain effect. We consider an overhead crane system in which a trolly located on its top is moved to x- and y-axis independently. We first approximate the complicated crane model through linearization approach to simply construct a PD control and then design an adaptive control system for compensating modeling error and control deviation which is feasibly occurred due to system perturbation in practice. An adaptive control scheme is analytically derived using Lyapunov stability theory for a given bound of system perturbation. We accomplish numerical simulation for evaluation of the proposed control system and demonstrate its superiority comparing with the traditional control strategy.

Keywords

References

  1. J. Yu, F. L. Lewis, and T. Huang, "Nonlinear feedback control of a gantry crane," Proc. of American Control Conference, pp. 4310- 4315, 1995
  2. K. Yoshida and H. Kawabe, "A design of saturating control with a guaranteed cost and its application to the crane control systems," IEEE Trans. on Automatic Control, vol. 37, pp. 121 - 127, 1992 https://doi.org/10.1109/9.109646
  3. S. C. Martindale, D. M. Dawson, J. Zhu, and C. Rahn, "Approximate nonlinear control for a two degree of freedom overhead crane: theory and experimentation," Proc. of American Control Conference, pp. 301-305, 1995
  4. K. A. F. Moustafa and A. M. Ebeid, "Nonlinear modeling and control of overhead crane load sway," J. of Dynamic Systems, Measurement, and Control, vol. 110, pp. 266 - 271, 1988 https://doi.org/10.1115/1.3152680
  5. H. Lee, "Modeling and control of a three-dimensional overhead cranes," J. of Dynamic Systems, Measurement, and Control, vol. 120, pp. 47-476, 1998
  6. I. Fantoni, R. Lozano, and M. W. Spong, "Energy based control of the pendubot," IEEE Trans. on Automatic Control, vol. 45, pp. 725 - 729, 2000 https://doi.org/10.1109/9.847110
  7. Y. Fang, E. Zergeroglu, W. E. Dixon, and D. M. Dawson, "Nonlinear coupling control laws for an overhead crane system," Proc. of IEEE Conf. on Control Applications, pp. 639 - 644, 2001
  8. A. Guez, J. L. Eilbert, and M. Kam, "Neural network architecture for control," IEEE Control Systems Magazine, vol. 8, no. 2, pp. 22 - 25, 1988 https://doi.org/10.1109/37.1869
  9. Hyun C. Cho, M. Sami Fadali, Young J. Lee, and Kwon S. Lee, "Neural robust control for perturbed crane systems," J. of Mechanical Science & Technology, vol. 20, no. 5, pp. 591 - 601, 2006 https://doi.org/10.1007/BF02915976
  10. 최연욱, 이형기, "PSD 카메라와 프로펠러를 이용한 컨 테이너 스웨이 제어" 대한전기학회 논문지, 제56권, 제5 호, pp. 958-963, 2007
  11. 홍금식, 손성철, 이만형, "컨테이너 크레인의 흔들림제 어 (part II): 트로리주행속도 조절을 통한 진자운동의 제어," 제어자동화시스템공학회 논문지, 제3권, 제2호, pp. 132 - 138, 1997
  12. 이진우, 여태경, 안휘웅, 김상봉, "자유도 서보제어기를 이용한 크레인의 Anti-Sway 제어," 한국해양공학회지, 제12권, 제4호, pp. 17 - 23, 1998
  13. 박병석, 윤지섭, 강이석, "슬라이딩모드 제어기를 이용 한 산업용 천정크레인의 추종제어에 관한 연구," 제어 자동화시스템공학회 논문지, 제6권, 제11호, pp. 1022 - 1032, 2000
  14. 손유식, 김영복, "컨테이너 크레인의 흔들림 방지장치 개발에 관한 연구," 한국해양공학회지, 제14권, 제4호, pp. 35 - 42, 2000
  15. 손정기, 최재준, 소명옥, 남택근, 권순재, "Q 제어 기법 을 이용한 컨테이너 크레인의 제어기 설계," 한국박용 기관학회지, 제26권, 제5 호, pp. 544 - 553, 2002
  16. 소명옥, 유회한, 박재식, 남택근, 최재준, 이병찬, "퍼지 제어 기법을 이용한 컨테이너 크레인의 제어기 설계," 한국박용기관학회지, 제27권, 제6호, pp. 759 - 766, 2003