Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1996.07b
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- Pages.977-979
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- 1996
Anti-sway Control of Crane
기중기의 흔들림 방지제어
- Roh, Chi-Weon (Dept. of Control & Instrumentation Eng., Ajou Univ.) ;
- Lee, Kwang-Won (Dept. of Control & Instrumentation Eng., Ajou Univ.)
- Published : 1996.07.22
Abstract
This paper presents an algorithm to control the undesirable sway of a suspended load in the crane system that has a trade-off between positioning the load and suppressing the sway of the load. The aim is to transport the load to a specified place with small sway angle as quickly as possible. Dynamic model is based on a simple pendulum driven by a velocity drive that is mostly used for actuating a trolley in industry. Proposed algorithm is composed of two parts : one is a off-line optimal trajectory generator, the other on-line tracking control. The former produces optimal trajectories minimizing energy under the speed constraint of velocity drive. The latter controls outputs to track the generated trajectories. Digital simulations and experiments are performed on a pilot crane to demonstrate the performance of the proposed control algorithm.
Keywords