• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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• pp.53-64
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• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. 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, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for 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.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.7
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• pp.559-566
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• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, 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, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall 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 gain-scheduling control technique to the anti-swing motion 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 for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1404-1409
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• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.109-115
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with load hoisting. The proposed control law improves the positioning accuracy but also the sway suppression through fast stabilization of the under-actuated sway dynamics, which is based on a class of feedback linearizing control incorporated with an additional control including the sway angle and its rate as well as positioning errors and their rates. For the design of the additional control, a variable structure control with the proper sway damping and simple switching action is employed, thus preventing excessive overshoots of the trolley travelljng and effectively suppressing the residual sway of container arrived at the target position. Simulation results are provided to show effectiveness of the proposed controller in the presence of such uncertainties as winds and the variation of payload weights.

• 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.

• 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.

• Journal of Power System Engineering
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• v.2 no.1
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• pp.73-79
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• 1998

In practical fields, the sway of crane systems leads to extra stress to the crane structure during the transporting operation and it is in close connection with its life. Usually, when we operate the cranes with high speed and manual control, the sway motion is irreducible. In this paper, a new type of crane system is proposed to avoid the irreducible sway of the crane systems. The proposed system is composed of mechanical arm with function of anti-sway based on conventional line system. By the anti-sway arm, we can realize to prevent the sway of the container box but cannot avoid the oscillation for the overall body of the crane. So, a controller design method to solve the above stated problem must be considered. The problem is solved by adopting the velocity pattern control methods of trapezoidal and curve types and its effectiveness is proved through experimental results.

• Journal of Ocean Engineering and Technology
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• v.14 no.4
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• pp.35-42
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• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• Journal of Mechanical Science and Technology
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• v.18 no.8
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• pp.1306-1311
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• 2004

We suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, as the basic and first step, we apply the $H_{\infty}$ control approach to anti-sway control system design problem. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance through simulation and experimental studies.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.630-639
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• 1999

To achieve fast loading and unloading of containers from a container ship, quick suppression of the remaining sway motion of the container at the end of each trolley stroke is crucial. Due to the pendulum motion of the container and disturbances like sind, residual sway always exists at the end of trolley movement. In this paper, the sway-control problem of a container crane is investigated. A two-stage control is proposed. The first stage is a time optimal controlfor the purpose of fast trolley traveling. The second stage is a nonlinear control for the quick suppression of residual sway, which starts right after the first stage while lowering the container. The nonlinear control is investigated in the perspective of controlling an underatuated mechanical system, which combines partial feedback linearization to account for the known nonlinearities as much as possible, and variable structure control to account for the unmodeled dynamics and disturbances. Simulation and experimental results are provided.