한국항해항만학회:학술대회논문집 (Proceedings of the Korean Institute of Navigation and Port Research Conference)
- 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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- Pages.159-165
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- 1998
Two-Stage Control of a Container Crane: Time Optimal Travelling and Nonlinear Residual Sway Control
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Hong, Keum-Shik
(Department of Mechanical Engineering, Pusan National University) ;
- Park, Bae-Jeong (Graduate School, Pusan National University) ;
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Lee, Man-Hyung
(Department of Mechanical Engineering, Pusan National University)
- 발행 : 1998.10.01
초록
In this paper the sway-control problem of a container crane is investigated. The control loop is divided into two stages. The first stage is a modified time optimal control for trolley traversing. The velocity command for trolley traversing consists of three components ; a reference velocity and two feedback signals for compensating the deviations of trolley and sway angle from their desired trajectories. For trolley's exact positioning the trolley dynamics is identified via an error equation identifier structure. The second stage is a nonlinear residual sway control that starts at the end of first stage. The control design for the second stage is investigated from the perspective of controling an underactuated system, and the control law combines the feedback linearization and variable structure control.
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