한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제21권6호
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  • Pages.878-884
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  • 2012
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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마찰 보상을 갖는 컨테이너 크레인의 흔들림 억제 추종 제어

Anti-Sway Tracking Control of Container Cranes with Friction Compensation

  • 백운보 (동의대학교 메카트로닉스공학과) ;
  • 신진호 (동의대학교 메카트로닉스공학과)
  • 투고 : 2012.08.14
  • 심사 : 2012.09.26
  • 발행 : 2012.12.15
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초록

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.

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참고문헌

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피인용 문헌

  1. Adaptive Variable Structure Control of Container Cranes with Unknown Payload and Friction vol.20, pp.10, 2014, https://doi.org/10.5302/J.ICROS.2014.14.0085