한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)
- 제2권2호
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- Pages.165-172
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- 1999
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- 1226-833X(pISSN)
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- 2765-5415(eISSN)
극점배치기법을 이용한 트롤리 및 스프레더의 위치제어
Position Control of the Trolley and Spreader Using Pole-placement Method
- Lee, Tae-Young (Kyungpook National University Graduate School) ;
- Kim, Myun-Hee (Kyungpook National University Graduate School) ;
- Choi, Won-Sik (Kyungil University)
- 투고 : 1999.06.21
- 심사 : 1999.10.15
- 발행 : 1999.10.31
초록
Crane operation for transporting heavy loads causes swinging motion at the loads. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane is derived. and the feedback gain matrix based on the pole-placement method is proposed to supress the swing motion and control the position of the crane. The performance of the controller for the crane model is simulated on the personal computer.