Browse > Article

Feedback Linearization Control of Container Cranes  

PARK HAHN (Department of Mechanical and Intelligent Systems Engineering, Pusan National University)
CHWA DONG-KYUNG (School of Electrical and Computer Engineering, Ajou University)
HONG KEUM-SHIK (School of Mechanical Engineering, Pusan National University)
Publication Information
Journal of Ocean Engineering and Technology / v.19, no.5, 2005 , pp. 58-64 More about this Journal
Abstract
In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.
Keywords
Container Crane; Nonlinear Control Law; Feedback Linearization Control; Lyapunov Stability Theorem;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 김영복, 문덕홍, 양주호, 채규훈 (2005) '동시최적화 설계기법을 이용한 항만용 크레인의 흔들림 제어계 설계', 한국해양공학회지, 제19권, 제3호, pp66-73
2 Fang, Y., Dixon, W. E., Dawson, D.M. and Zergeroglu, E. (2003). 'Nonlinear Coupling Control Laws for an Underactuated Overhead Crane System', IEEE/ ASME Transactions on Mechatronics, Vol 8, No 3, pp 418-423   DOI   ScienceOn
3 Khalil, H.K.,Nonlinear Systems, 3rd edition, Prentice-Hall, 2002
4 Kim, Y.S. (2002). Control Systems for Suppressing Sway of a Suspended Load without a Vision System, Ph.D Dissertation, School of Electrical Engineering, Seoul National University
5 이숙재, 홍금식 (2004). '컨테이너 크레인의 슬라이딩 모드제어', 한국정밀공학회 2004 추계학술대회논문집, BEXCO, pp 151-157   과학기술학회마을
6 이호훈, 전종학, 최승갑 (2001). '권상/권하 속도가 큰 경우 크레인의 비선형 무진동 제어', 대한기계학회논문집 A권, 제25권, 제9호, pp 1461-1467
7 홍금식 (1999). '컨테이너 기중기의 제어: 수정된 시간최적주행과 비선형 잔류흔들림 제어', 제어.자동화.시스템공학논문지, 제5권, 제5호,pp 630-639
8 Hong, KS. (1997). 'Asymptotic Behavior Analysis of a Coupled Time-varying .System: Application to Adaptive Systems', IEEE Transactions on Automatic Control, Vol 42, No 12, pp 1693-1697   DOI   ScienceOn
9 Moustafa, K.A.F. and Ebeid, AM (1988). 'Nonlinear Modeling and Control of Overhead Crane Load Sway', ASME Transactions, Journal of Journal of Dynamic Systems, Measurement, and Control, Vol 110, pp 266-271   DOI
10 손유식, 김영복 (2000). '컨테이너크레인의 흔들림 방지장치 개발에 관한 연구', 한국해양공학회지, 제14권, 제4호.,pp 35-42
11 Hong, K.S., Park, B.J. and Lee, M.H. (2000). 'Two-stage Control for Container Cranes', JSME International Journal, Series C, Vol 43, No 2, pp 273-282   DOI   ScienceOn
12 Hong, K. T., Huh, C.D., & Hong, K.S. (2003). 'Command Shaping Control for Limiting the Transient Sway Angle of Crane Systems', International Journal of Control, Automation, and Systems, Vol 1, No 1, pp 43-53
13 Lee, H.H. (2003). 'New Approach for the Anti-swing Control of Overhead Cranes with High-speed Load Hoisting', International Journal of Control, Vol 76, No 15, pp 1493-1499   DOI   ScienceOn
14 홍금식, 손성철, 이만형 (1997b). '컨테이너 크레인의 흔들림 제어 (Part II): 트롤리 주행속도 조절을 통한 진자운동의 제어', 제어.자동화.시스템공학논문지 제3권, 제2호, pp 132-138
15 Kim, Y.S., Hong, K.S., and SuI, S.K., 'Anti-sway Control of Container Cranes: Inclinometer, Observer, and State Feedback,' International Journal of Control, Automation, and Systems, Vol. 2, No.4, pp. 435-449, 2004
16 Sakawa, Y. and Shindo, Y. (1982). 'Optimal Control of Container Cranes', Automatica, Vol 18, No 3, pp 257-266   DOI   ScienceOn
17 홍금식, 손성철, 이만형 (1997a). '컨테이너 크레인의 흔들림 제어 (Part I): 모델링, 제어전략, 기준선도를 이용한 오차피이드백 제어', 제어.자동화.시스템공학논문지, 제3권, 제1호, pp 23-31
18 Lee, H.H. (1998). 'Modeling and Control of a Three-dimensional Overhead Cranes', ASME Transactions, Journal of Dynamic Systems, Measurement, and Control, Vol 120, No 4, pp 471-476   DOI   ScienceOn
19 Bartolini, G., Pisano, A and Usai, E. (2002). 'Second-order Sliding-mode Control of Container Cranes', Automatica, Vol 38, No 10, pp 1783-1790   DOI   ScienceOn
20 이진우, 여태경, 안휘웅, 김상봉 (1998). '2자유도 서보제어기를 이용한 크레인의 Anti-Sway 제어', 한국해양공학회지, 제12권, 제4호, pp17-23