동력기계공학회지 (Journal of Power System Engineering)
- 제12권6호
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- Pages.50-55
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- 2008
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- 2713-8429(pISSN)
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- 2713-8437(eISSN)
주파수 의존형 최적 레귤이터에 의한 크레인 흔들림 제어계 설계
Swing Motion Control System Design Based on Frequency-shaped LQ Control
초록
In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. Futhermore the measuring systems based on image sensor have been proposed also. To obtain the robustness for our control system,