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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)
Publication Information
International Journal of Control, Automation, and Systems / v.2, no.4, 2004 , pp. 435-449 More about this Journal
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
Crane control; modeling; observer; pendulum motion; state feedback; velocity profile;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By Web Of Science : 17  (Related Records In Web of Science)
Times Cited By SCOPUS : 21
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