컨테이너 크레인 시스템의 하물중량 추정에 관한 연구

A Study on the Estimation of Cargo Weight for Container Crane System

In container crane system, the variation of cargo weight have effect on the travelling and sway control of load. For precise travelling and/or anti-sway control of crane system, the cargo weight should be measured and considered with control algorithm. But, and added attachment for measuring the cargo weight put restraint upon the control freedom for travelling and anti-sway. In this paper, we propose an estimation method for cargo weight in container crane system by using observation technique. First of all, we model the container crane system as a bilinear system and transform this model into linear system with external disturbance model. Second, we propose a generalized type - disturbance estimation observer and set a disturbance model, where, the cargo weight is related with the sway of load, and the sway is represented as a periodic external disturbance. Lastly, by using simulation we verify that the proposed algorithm of disturbance estimation observer is effective to estimate the cargo weight, and it will be used with anti-sway control algorithm.