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International Journal of Control, Automation and Systems v.2 no.4, 2004년, pp.435 - 449   피인용횟수: 9

Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State Feedback

Kim, Yong-Seok    (Advanced Technology Center, R&D Division for Hyundai & Kia Motors.   ); Hong, Keum-Shik    (School of Mechanical Engineering, Pusan National University   ); Sul, Seung-Ki    (School of Electrical Engineering and Computer Science, Seoul National University  );
  • 초록

    In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.


  • 주제어

    Crane control .   modeling .   observer .   pendulum motion .   state feedback .   velocity profile.  

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  • 이 논문을 인용한 문헌 (9)

    1. PARK HAHN ; CHWA DONG-KYUNG ; HONG KEUM-SHIK 2005. "Feedback Linearization Control of Container Cranes" 韓國海洋工學會誌 = Journal of ocean engineering and technology, 19(5): 58~64     
    2. 2007. "" International Journal of Control, Automation and Systems, 5(3): 223~233     
    3. 2007. "" International Journal of Control, Automation and Systems, 5(4): 379~387     
    4. 2009. "" Journal of mechanical science and technology, 23(2): 381~388     
    5. 2009. "" Journal of mechanical science and technology, 23(12): 3332~3339     
    6. 2009. "" Journal of mechanical science and technology, 23(11): 3071~3078     
    7. 2011. "" International Journal of Control, Automation and Systems, 9(2): 301~309     
    8. 2014. "" International journal of precision engineering and manufacturing, 15(5): 811~819     
    9. Piao, Mingxu ; Kim, Gyoung-Hahn ; Shah, Umer Hameed ; Hong, Keum-Shik 2016. "Dynamics Analysis and Residual Vibration Control of an Overhead Shuttle System" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 22(6): 445~452   

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