Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study of Anti-sway Control for a Ship-mounted Contrainer Crane

부유체 위에 고정된 크레인의 안정화 제어기 설계에 관한 연구

  • 민형기 (창원대학교 제어계측공학과) ;
  • 조재동 (창원대학교 제어계측공학과) ;
  • 김지훈 (창원대학교 제어계측공학과) ;
  • 권성하 (창원대학교 제어계측공학과) ;
  • 정은태 (창원대학교 제어계측공학과)
  • Received : 2010.02.17
  • Accepted : 2010.06.03
  • Published : 2010.08.01
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Abstract

This paper deals with an anti-sway control for a ship-mounted container crane which is disturbed by the wave-induced motions of the ship. We derive a simple dynamics of the ship-mounted container crane with an active anti-sway control system and transform it into a dynamic function for a horizontal variable on the absolute coordinate. Then we propose an control method to reduce pendulation of the spreader and compare its performance with well-known feedback linearization control in computer simulation.

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References

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