Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Feedback Linearization Control of Container Cranes

컨테이너 크레인의 되먹임 선형화제어

  • PARK HAHN (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • CHWA DONG-KYUNG (School of Electrical and Computer Engineering, Ajou University) ;
  • HONG KEUM-SHIK (School of Mechanical Engineering, Pusan National University)
  • 박한 (부산대학교 대학원 지능기계공학과) ;
  • 좌동경 (아주대학교 전자공학부) ;
  • 홍금식 (부산대학교 기계공학부)
  • Published : 2005.10.01
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Abstract

In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.

Keywords

References

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