Journal of Mechanical Science and Technology

  • 제18권8호
  • /
  • Pages.1306-1311
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  • 2004
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  • 1738-494X(pISSN)
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  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

A New Approach to Anti-Sway System Design Problem

  • 발행 : 2004.08.01
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초록

We suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, as the basic and first step, we apply the $H_{\infty}$ control approach to anti-sway control system design problem. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance through simulation and experimental studies.

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참고문헌

  1. Cheng, W. and Li, X., 1993, 'Computer Control of High Speed Cranes,' Processing of the American Control Conference, pp. 2562-2566
  2. Hong, K. S., Sohn, S. C. and Lee, M. H., 1997, 'Sway Control of a Container Crane (Part I): Modeling, Control Strategy, Error Feedback Control Via Reference Velocity Profiles,' Journal of Control, Automation and Systems Engineering, Vol. 3, No. 1, pp. 23-31.(in Korean)
  3. Hong, K. S., Sohn, S. C. and Lee, M. H., 1997, 'Sway Control of a Container Crane (Part II): Regulation of the Pendulum Sway through Patternizing Trolley Moving Velocity,' Journal of Control, Automation and Systems Engineering, Vol. 3, No. 2, pp. 132-138.(in Korean)
  4. Hong, K. S., 1999, 'Container Crane Control: Modified Time-Optimal Traveling Followed by Nonlinear Residual Sway Control,' Journal of Control, Automation and Systems Engineering, Vol. 5, No. 5, pp. 630-639.(in Korean)
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  6. Hong, K. T., Huh, C. D. and Hong, K. S., 2003, 'Command Shaping Control for Limiting the Transient Sway Angle of Crane Systems,' International Journal of Control, Automation, and Systems, Vol. 1. No. 1, pp. 43-45
  7. Kim, Y. B., 2002, 'Anti Sway System of the Crane,' Korean patent, No. 0350780
  8. Lee, C. K., 2001, 'The Modeling and Position Control of Overhead Cranes,' Transaction of the KSME, Vol. 25, No. 12, pp. 1919-1925.(in Korean)
  9. Nomura, N., Hakamada, Y. and Saeki, H., 1997, 'Anti-sway Position Control of Crane Based on Acceleration Feedback and Predicted Pattern Following Method,' Trans. of the Institute of Elec. eng. of Japan (D) , Vol. 17, No. 11, pp. 1341-1347
  10. Noriaki, M., Ukita, T., Nishioka, M., Monzen, T. and Toyohara, T., 2001, 'Development of Feedforward Anti-sway Control for High Efficient and Safety Crane Operation,' Mitsubishi Heavy Ind. Technical Review, Vol. 38, No. 2, pp. 73-77