제어로봇시스템학회:학술대회논문집
- 2003.10a
- /
- Pages.392-395
- /
- 2003
Multi-step Predictive Control of LMTT using DR-FNN
- Lee, Jin-Woo (Department of Electrical Engineering, Dong-A University) ;
- Lee, Young-Jin (Department of Electrical Instrument and Control, Korea Aviation Polytechnic College) ;
- Lee, Kwon-Soon (Division of Electrical, Electronics & Computer Eng., Dong-A University)
- Published : 2003.10.22
Abstract
In the maritime container terminal, LMTT (Linear Motor-based Transfer Technology) is horizontal transfer system for the yard automation, which has been proposed to take the place of AGV (Automated Guided Vehicle). The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car (mover). Because of large variant of mover's weight by loading and unloading containers, the difference of each characteristic of stator modules, and a stator module's trouble etc., LMCPS (Linear Motor Conveyance Positioning System) is considered as that the system is changed its model suddenly and variously. In this paper, we will introduce the soft-computing method of a multi-step prediction control for LMCPS using DR-FNN (Dynamically-constructed Recurrent Fuzzy Neural Network). The proposed control system is used two networks for multi-step prediction. Consequently, the system has an ability to adapt for external disturbance, cogging force, force ripple, and sudden changes of itself.
Keywords
- LMTT(Linear Motor-based Transfer Technology);
- Positioning System;
- DR-FNN(Dynamically-constructed Recurrent Fuzzy Neural Network);
- Predictive Control