신경회로망 자기동조 PID 제어기를 이용한 UCT의 조향제어에 관한 연구

A Study on UCT Steering Control using NNPID Controller

  • 손주한 (동아대학교 전기공학과) ;
  • 이영진 (동아대학교 전기공학과) ;
  • 이진우 (동아대학교 전기공학과) ;
  • 조현철 (동아대학교 RRC 인턴연구원) ;
  • 이권순 (동아대학교 전기 전자 컴퓨터공학부) ;
  • 이만형 (부산대학교 기계공학부)
  • 발행 : 1999.10.01

초록

In these days, there are a lot of studies in the port automation, for example, unmanned container trasporter, unmanned gantry crain, and automatic terminal operation systems and so on. In terms of loading and unloading equipments. we can consider container transporter. This paper describes the automatic control for the UCT(unmanned container transporter), especially steering control systems. UCT is now operated on ECT port in Netherland and tested on PSA ports in Singapore. So we present a design on the controller using neural network PID(NNPID) controller to control the steering system and we use the neural network self-tuner to tune the PID parameters. The computer simulations show that our proposed controller has better performances than those of the other.

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