• Title/Summary/Keyword: 스윙 모션 제어

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A Study on Swing Motion Control System Design for the Spreader of the Crane (크레인 스프레더의 Swing Motion 제어에 관한 연구)

  • Chae, G.H.;Kim, Y.B.
    • Journal of Power System Engineering
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    • v.7 no.3
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    • pp.54-60
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    • 2003
  • In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is shown to be useful and robust to disturbances like winds and initial sway motion.

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A Study on Swing Motion Control System Design for the Spreader of the Crane with Varying Rope Length (크레인 스프레더의 Swing Motion 제어에 관한 연구 : 로프 길이변화를 고려한 경우)

  • An, S.B.;Chae, G.H.;Kim, Y.B.
    • Journal of Power System Engineering
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    • v.8 no.1
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    • pp.55-61
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    • 2004
  • In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion.

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A Study on the Sway Control of a Container Crane with Varying Rope Length Based on Gain-Scheduling Approach (로프 길이변화를 고려한 크레인의 흔들림 제어에 관한 연구: Gain-Scheduling 기법에 의한 제어기 설계)

  • Kim, Y.W.;Kim, Y.B.
    • Journal of Power System Engineering
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    • v.8 no.3
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    • pp.58-66
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    • 2004
  • The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. 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 made by ourselves. 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. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

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A Study on the Sway Control of a Container Crane with Varying Rope Length Based on Gain-Scheduling Approach (로프 길이 변화를 고려한 크레인의 흔들림 제어에 관한 연구;Gain-Scheduling 기법에 의한 제어기 설계)

  • Kim, Y.W.;Kim, Y.B.
    • Proceedings of the KSME Conference
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    • 2004.11a
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    • pp.631-636
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    • 2004
  • The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. 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 made by ourselves. 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. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the experiment result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

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Swing-Motion Control System Design for the Crane Based on Simultaneous Optimum Design Approach (구조제와 제어계의 통합적 설계법을 이용한 크레인의 Swing-Motion 제어계 설계)

  • Jang Ji Seong;Kim Young Bok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.29 no.5 s.236
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    • pp.777-785
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    • 2005
  • The swing motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. 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 made by ourselves. 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. And, 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. In this paper, the simultaneous design method is used to determine the optimum weight of moving mass such that the optimal system performance would be achieved. 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 the unexpected disturbance inputs.

An Anti-Sway Control System Design Based on Simultaneous Optimization Design Approach (동시최적화 설계기법을 이용한 항만용 크레인의 흔들림 제어계 설계)

  • Kim, Young-Bok;Moon, Duk-Hong;Yang, Joo-Ho;Chae, Gyu-Hoon
    • Journal of Ocean Engineering and Technology
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    • v.19 no.3
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    • pp.66-73
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    • 2005
  • 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.