Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Decentralized Control with Input Compensation Form for Gantry Crane Systems

갠트리 크레인의 입력 보상형 분산제어

  • 김환성 (한국해양대학교 물류시스템공학과) ;
  • 김명규 (한국해양대학교 물류시스템공학과) ;
  • 유삼성 (한국해양대학교 기계.정보공학부)
  • Published : 2001.04.01
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Abstract

In this paper, we deal with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry cranes characteristics, the system is decentralized into two subsystems, the travelling and swaying subsystem and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using the observability canonical form. The decentralized subsystems include unknown inputs that one coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques. And those estimated values are used to construct an input compensation form. Finally, the proposed decentralized control scheme for the gantry crane systems is verified by crane simulation.

Keywords

References

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