Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on the Sway Suppression Control of Container Cranes

컨테이너 크레인의 흔들림 억제 제어에 관한 연구

  • 백운보 (동의대학교 메카트로닉스공학과)
  • Received : 2010.11.14
  • Accepted : 2011.11.08
  • Published : 2012.02.15
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Abstract

In this paper, we consider the sway suppression control problem for container cranes with load hoisting. The proposed control law improves the positioning accuracy but also the sway suppression through fast stabilization of the under-actuated sway dynamics, which is based on a class of feedback linearizing control incorporated with an additional control including the sway angle and its rate as well as positioning errors and their rates. For the design of the additional control, a variable structure control with the proper sway damping and simple switching action is employed, thus preventing excessive overshoots of the trolley travelljng and effectively suppressing the residual sway of container arrived at the target position. Simulation results are provided to show effectiveness of the proposed controller in the presence of such uncertainties as winds and the variation of payload weights.

Keywords

References

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Cited by

  1. Adaptive Variable Structure Control of Container Cranes with Unknown Payload and Friction vol.20, pp.10, 2014, https://doi.org/10.5302/J.ICROS.2014.14.0085
  2. Anti-Sway Tracking Control of Container Cranes with Friction Compensation vol.21, pp.6, 2012, https://doi.org/10.7735/ksmte.2012.21.6.878