한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권4호
  • /
  • Pages.142-147
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

비선형 천장 크레인시스템의 위치제어 알고리즘 개발

Development of the Position Control Algorithm for Nonlinear Overhead Crane Systems

  • 이종규 (대구효성가톨릭대학교, 기계ㆍ자동차공학과) ;
  • 이상룡 (경북대학교 기계공학부)
  • 발행 : 2000.04.01
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초록

An overhead crane system which transports an object by girder motion, trolley motion, and hoist motion becomes a nonlinear system because the length of a rope changes. To develope the position control algorithm for the nonlinear crane systems, we apply a nonlinear optimal control method which uses forward and backward difference methods and obtain optimal inputs. This method is suitable for the overhead crane system which is characterized by the differential equation of higher degree and swing motion. From the results of computer simulation, it is founded that the position of the overhead crane system is controlled, and the swing of the object is suppressed.

키워드

참고문헌

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