갠트리 크레인의 입력 보상형 분산제어

Decentralized Control with Input Compensation Form for Gantry Crane Systems

  • 김환성 (한국해양대학교 물류시스템공학과) ;
  • 김명규 (한국해양대학교 물류시스템공학과) ;
  • 유삼상 (한국해양대학교 기계·자동화공학부)
  • 발행 : 2000.10.01

초록

In this paper, we deals with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry crane's characteristics, the system is decentralized into two subsystems such as the travelling and sway subsystem, and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using observability canonical form. The decentralized subsystems include unknown input which coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques and those estimated values are used to construct an input compensation form. Lastly, the proposed decentralized control scheme far the gantry crane systems is verified by crane simulation.

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