Sway Control of a Container Crane ( Part I ) : Modeling, Control Strategy, Error Feedback Control Via Reference Velocity Profiles

컨테이너 크레인의 흔들림 제어 ( Part I ) : 모델링, 제어전략, 기준선도를 통한 오차 피이드백 제어

The sway control problem of pendulum motion of a container hanging on a Portainer Crane, which transports containers from a container ship to trucks, is considered in the paper. The equations of motion are obtained through the Lagrange mechanics and simplified for control purposes. Considering that the fast traveling of trolley and no residual swing motion of the container at the end of acceleration and deceleration are crucial for quick transportation, several velocity patterns of trolley movement including the time-optimal control are investigated. Incorporating the change of rope length, a reference swing trajectory is introduced in the control loop and the error signal between the reference sway angle and the measured sway angle is feedbacked. Proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.