Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2005.07b
- /
- Pages.1465-1467
- /
- 2005
Modeling and Anti-sway Control of a Harbor Container Crane
항만 컨테이너 크레인의 모델링과 흔들림 억제 제어 방법
- Lim, Chang-Jin (POSCON Corporation) ;
- Choi, Chang-Ho (POSCON Corporation) ;
- Moon, Sang-Ho (POSCON Corporation) ;
- Yang, Byung-Hoon (POSCON Corporation) ;
- Kim, Heung-Geun (Kyungpook National University) ;
- Choi, Jong-Woo (Kyungpook National University)
- Published : 2005.07.18
Abstract
In this paper, the harbor container crane which transports containers between a container ship and trucks in the harbor is modeled. The equation of motion is simplified for control purpose. The pole placement technique is used to control the crane to minimize load swing angle The objective of the control is to transfer the load as quickly as possible, while minimizing the amplitude of swing at the end of transfer. Computer simulations are provided.
Keywords