3D 크레인 시스템 적응제어에 관한 연구 : 실시간 시뮬레이터 구현

A Study on Adaptive Control of 3D Crane Systems : Implementation of a Real-time Simulator

A crane is very important mechanical systems in industrial applications to move huge objects. Especially, in marine port terminals, it is used to place container boxes at desired position within given operating time. However, such system is faced with environmental disturbance such as wind from the sea, thus crane control system is required to cope with this nature. This paper proposed robust and adaptive control algorithm of a complicated 3D crane against the environmental disturbance. We simplify a mathematical design procedure to derive our control algorithm. We conduct real-time experiment using a crane simulator to evaluate its superiority and reliability.