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http://dx.doi.org/10.5394/KINPR.2008.32.5.379

Experimental Data based-Parameter Estimation and Control for Container Crane  

Lee, Yun-Hyung (Korea Port Training Institute)
Jin, Gang-Gyoo (Division of Computer, Control and Electronic Communications Engineering, Korea Maritime University)
So, Myung-Ok (Division of Mechatronics Engineering, Korea Maritime University)
Publication Information
Journal of Navigation and Port Research / v.32, no.5, 2008 , pp. 379-385 More about this Journal
Abstract
In this paper, we presents a scheme for the parameter estimation and optimal control scheme for apparatus of container crane system. For parameter estimation, first, we construct the open loop of the container crane system and estimate its parameters based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. The RCGA plays an important role in parameter estimation as an adaptive mechanism. For controller design, state feedback gain matrix is searched by another RCGA and the estimated model. The performance of the proposed methods are demonstrated through a set of simulation and experiments of the experimental apparatus.
Keywords
Container crane; Parameter estimation; PI-type state feedback control; Real-coded genetic algorithm(RCGA);
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