Control of Crane Systems by a Digital Redesign Method

디지탈재설계법에 의한 크레인계의 제어

An algorithm of transforming continuous-time state feedback gains into equivalent discrete-time feedback gains or vice versa is proposed using bilinear transformation. The proposed method is evaluated experimentally by an application control of a mobile crane system which is implemented by 16bits micro computer with A/D and D/A converters. It has been shown from the experimental result that the transformed feedback gains are virtually identical to the optimal discrete gain over range of significant sampling time. Since the transformed matrix is composed by a distinct relationship between continuous-time gain and discrete-time gain, it is noted that the proposed method can be regarded as an explicit gain transformation method compared to the other methods using series expansion.

본 연구에서는 쌍선형 함수를 이용하여 연속시스템의 상태공간에서 설계된 폐 루우프계로 부터 이산시스템의 피이드백 게인행렬을 얻을 수 있는 디지탈재설계법이 제안 되었고, 크레인의 실시간 제어를 통해 본 연구에서 제안된 디지탈 재설계법의 유 효성을 확인했다.