Browse > Article

An Anti-Sway Control System Design Based on Simultaneous Optimization Design Approach  

Kim, Young-Bok (Faculty of Mechanical Engineering, Pukyong National University)
Moon, Duk-Hong (Faculty of Mechanical Engineering, Pukyong National University)
Yang, Joo-Ho (Faculty of Mechanical Engineering, Pukyong National University)
Chae, Gyu-Hoon (Dept. of Power System Engineering, Kunsan National University)
Publication Information
Journal of Ocean Engineering and Technology / v.19, no.3, 2005 , pp. 66-73 More about this Journal
Abstract
The sway motion control problem of a container hanging on the trolley is considered in this paper. In the container crane control problem, the main issue involves suppressing the residual swing motion of the container at the end of acceleration, during deceleration, or for an unexpected disturbance input. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system, in which a small auxiliary mass is installed on the spreader. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. In many cases, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called "Structure/Control Simultaneous Method" is used. From this, in this paper the simultaneous design method is used to achieve optimal system performance. And the experimental result shows that the proposed control strategy is useful, to the case of that the controlled system is exposed to the uncertainties and, robust to disturbances like wind.
Keywords
Swing Motion Control; Trolley; Moving-Mass; Spreader; Container Crane; Simultaneous Optimization Design Method;
Citations & Related Records
연도 인용수 순위
  • Reference
1 김영완, 김영복 (2004). '로프 길이변화를 고려한 크레인의 흔들림 제어에 관한 연구:Gain-Scheduling 기법에 의한 제어기 설계', 한국동력기계공학회지, 제8권, 제3호, pp 58-66
2 Iwatsubo, T., Kawamura, S. and Adachi, K. (1993). 'Research Trends and Future Subjects on Simultaneous Optimum Design of Structural and Control Systems for Mechanical Structure', JSME Journal(C), Vol 59, No 559, pp 631-635   DOI
3 Obinata, G. (1997). 'Simultaneous Optimization of Space Structure and Control Systems', Journal of the SICE of Japan, Vol 36, No 4, pp 254-261
4 Onoda, J. (1995). 'Simultaneous Optimization of Space Structures and Control Systems', Systems, Control and Information of Japan, Vol 39, No 3, pp 136-141
5 김영복, 정용길 (2001). '$H_{\infty}$ Gian-Scheduling 기법을 이용한 컨테이너 크레인의 흔들림 제어에 관한 연구', 제어/자동화/시스템공학논문지, 제7권, 제7호, pp 559-566
6 Kim, Y.B. (2004). 'A New Approach to Anti-Sway System Design Problem', KSME International Journal, pp 1306-1311
7 Tanaka, H. and Sugie, T. (1998). 'General Framework and BMI Formular for Simultaneous Design of Structure and Control Systems', Trans. of SICE of Japan, Vol 34, No 1, pp 27-34   DOI
8 Goh, M.K.C. and Papavassilopoulos, G.P. (1994). 'A Global Optimization Approach for BMI Problem', Proc. of 33th CDC, pp 850-855
9 Shi, G. and Skelton, R.E. (1996). 'An Algorithm for Integrated Structure and Control Design with Variance Bounds', Proc. of 35th CDC, pp 167-172
10 안상백, 채규훈, 김영복 (2004). '크레인 스프레더의 Swing Motion 제어에 관한 연구:로프 길이변화를 고려한 경우', 한국동력기계공학회지, 제8권, 제1호, pp 55-61
11 채규훈, 김영복 (2003). '크레인 스프레더의 Swing Motion 제어에 관한 연구', 한국동력기계공학회지, 제7권, 제3호, pp 54-60
12 손유식, 김영복 (2000). '컨테이너 크레인의 흔들림 방지장치 개발에 관한 연구', 한국해양공학회지, 제14권, 제4호, pp 35-42