International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State Feedback

  • Kim, Yong-Seok (Advanced Technology Center, R&D Division for Hyundai & Kia Motors.) ;
  • Hong, Keum-Shik (School of Mechanical Engineering, Pusan National University) ;
  • Sul, Seung-Ki (School of Electrical Engineering and Computer Science, Seoul National University)
  • Published : 2004.12.01
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Abstract

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.

Keywords

References

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