항만 컨테이너 크레인의 모델링과 흔들림 억제 제어 방법

Modeling and Anti-sway Control of a Harbor Container Crane

  • 발행 : 2005.07.18

초록

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.

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