Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

The Modelling and Position Control of Overhead Cranes

천정 크레인의 모델링 및 위치제어

  • Published : 2001.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

Overhead cranes consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. If objects are regarded as mass point, and the acceleration of hoisting motion for objects is neglected, analytical model of overhead cranes becomes a nonlinear model because the length of a rope changes. Equations of motion this model is derived of simultaneous differential equations fur motors and object. Positions of the model are controlled by optimal inputs which obtain from a nonlinear optimal control method. From the results of computer simulation, even if initial states of objects suing, it is founded that position of overhead cranes is controlled, and that swing of objects is suppressed.

Keywords

References

  1. 윤지섭, 강이석, 1995, '천정크레인의 무진동/위치 제어기 개발에 관한 연구,' 대한기계학회논문집, 제19권, 제6호, pp. 1391-1401
  2. 홍금식, 손성철, 1996, '크레인 진자운동의 사간최적제어에 대한 단계적 접근,' 대한기계학회 춘계학술대회논문집(A), pp. 453-457
  3. 이호훈, 조성근, 1999, '권상/권하를 포함하는 2차원 천정크레인의 무진동 제어,' 대한기계학회논문집(A), 제23권, 제1호, pp. 22-30
  4. Kaneshige, A., Kitaoka, T., Munetoshi, H., Terashima, K., 1997, 'Motion Control of an Overhead Travelling Crane with Hoisting Motion and Curve Tajectory,' JSME(C), Vol. 63, No. 607, pp. 921-928
  5. Moustafa, K. A. F. and Ebeid, A. M., 1988, 'Nonlinear Modeling and Contrel of Overhead Crane Load Sway,' ASME DSMC, Vol. 110, pp. 266-271
  6. 이종규, 이상룡, 1995, '부분상태 궤한제어를 이용한 비선형 천정크레인의 진자각제어,' 대한기계학회논문집(A), 제21권, 제6호, pp. 907-917
  7. Koren, Y., 1983, 'Computer Control of Manufacturing Systems,' McGraw-Hill
  8. Sandor, B.I., 1987, 'Engineering Mechanics Dynamics,' Prentice-Hall
  9. Brogan, W. L., 1991, Modern Control Theory, Prentice-Hall
  10. 嘉納秀明, 1987, '시스템의 최적이론과 최적화,' 코로나사
  11. 叛和正敏, 1986, '비선형시스템의 최적화,' 임북출판