제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Position Control of AS/RS Stacker Crane By Using Cain-Scheduled Control Method in Automated High Rack Warehouse System

  • Kim, Hwan-Seong (Dept. of Logistics Engineering, Korea Maritime University) ;
  • You, Sam-Sang (School of Mechanical Systems Engineering, Korea Maritime University) ;
  • Shigeyasu Kawaji (Dept. of Systems Engineering and Information Science, Graduate School of Science and Tech., Kumamoto University)
  • Published : 1999.10.01
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Abstract

An automated storage and retrieval machinery for high rack warehouse systems is developed in order to stack the various kinds of productions. However, according to increase in the rack height, the long lead time should be taken. In stacker crane systems, the variations of the lifting height and the load generate the vibration of lifting machine, and it makes a Position control to be difficult Therefore, the reduction of vibration will be important factor for saving the lead time and the damage of Productions. This paper deals with a position control of stacker crane in automated high rack warehouse system by using a gain-scheduled control algorithm via a LMI method, where the variations of elastic coefficient of the stacker crane's post are considered.

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