# A Study on the Sway Control of a Container Crane Based on $H^$\infty$$Gain-Scheduling Approach # H^\infty$$ Gain-Scheduling 기법을 이용한 컨테이너 크레인의 흔들임 제어에 관한 연구

• 김영복 (군산대학교 해양과학대학 기관공학과) ;
• 정용길 (경상대학교 수송기계공학과 해양산업연구소)
• Published : 2001.07.01

#### Abstract

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.

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