JIB크레인의 Constant-level luffing과 시간최적제어

Constant-level luffing and time optimal control of a JIB crane

In this paper constant-level luffing and time optimal control of a JIB crane is investigated. The crane is assumed to have only the derricking motion. the analysis of plance kinematics provides the relationship between the boom angle and the main hosit motor angle for constant-level luffing. The dynamic equations for the crane are very nonlimear, and therefore they are linearized for the application of the linear control theory. The time optimal control in the perspective of no-sway at the end of boom stroke is investigated.