전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제56권5호
  • /
  • Pages.958-965
  • /
  • 2007
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

PSD 카메라와 프로펠라를 이용한 콘테이너 스웨이 제어

A New Anti Sway Control for Container Crane Using PSD Camera and Propellers

  • 최연욱 (부경대학교 전기제어공학부) ;
  • 이형기 (부경대학교 전기제어공학부)
  • 발행 : 2007.05.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

The spreaders on container cranes are usually controlled to stop at the same time as their trolleys are stopped. Despite the use of adequate control systems, however, the spreaders usually have comparatively large sway movements, due to their suspension from the trolleys through cables. It is, therefore, important to accurately measure the attitudes of the spreaders, in order to suppress such sways by means of secondary control. Until now, most of conventional anti sway control systems focus on the direct control of the movements of trolleys. which seems not suitable to speed up the entire process - loading and unloading of containers. In this paper, we suggest a new anti sway control system: By using extra equipments - two propellers to suppress the sway and a PSD camera to measure the spreader's attitude - installed on the spreader and the trolley. the sway of the suspended load j, considerably suppressed. The effectiveness of the proposed scheme is verified by the computer simulation and experiment with the miniature of the container crane system.

키워드

참고문헌

  1. T. Mita and T. Kanai, 'Optimal control of the crane system using the maximum speed of the trolleys,' Trans. Soc. Instr. Control Eng., 15, pp,833-838, 1979
  2. F. Boustany and B. d'Andrea-Novel. 'Adaptive Control of an Overhead Crane using Dynamic Feedback Linearization and Estimation Design,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1963-1968, 1992 https://doi.org/10.1109/ROBOT.1992.219942
  3. Y. Hakamada and M. Nomura, 'Anti-sway and Position Control of Crane System,' AMC'96 -MIE, pp.657-662, 1996 https://doi.org/10.1109/AMC.1996.509326
  4. Y. Kim, H. Seo, and S.K. SuI, 'A New Anti-Sway Control Scheme for Trolley Crane System,' 36th IEEE Conf. on Industry Applications, pp.548-552 , 2001 https://doi.org/10.1109/IAS.2001.955474
  5. Y. Kim, H. Shim, H. Yoshimura, N. Fujioka, and H. Kasahara, 'A New Vision-Sensorless Anti-Sway Control System for Container Cranes,' 38th IEEE Conf. on Industry Applications, pp.262-269, 2003
  6. M. Gutierrez and R. Soto, 'Fuzzy Control of a Scale Prototype Overhead Crane,' Proc. of IEEE Conf. on Decision & Control, pp.4266-4268, 1998 https://doi.org/10.1109/CDC.1998.761974
  7. J.A. Mendez, L. Acosta, L. Moreno, A Hamilton and G.N. Marichal, 'Design of a Neural Network Based Self-Tuning Controller for an Overhead Crane,' Proc. of IEEE Int. Conf. on Control Applications, pp.168-171, 1998 https://doi.org/10.1109/CCA.1998.728318
  8. H. Alli and T. Singh, 'Passive Control of Overhead Cranes,' Proc. Of IEEE Int. Conf. on Control Applications, pp. 1046-1050, 1998 https://doi.org/10.1109/CCA.1998.721617
  9. J.C. Doyle, B.A. Francis and A.R. Tannenbaum, Feedback Control Theory, Maxwell MacMillan, 1992
  10. K. Zhou, Robust and Optimal Control, Chap. 9, Prentice-Hall, 1996
  11. C. Scherer & M. Chilali, 'Multiobjective Output-Feedback Control via LMI Optimization,' IEEE Trans. Auto. Contr., Vol. AC-42, no.2 pp. 896-911 (1997) https://doi.org/10.1109/9.599969