Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Development of Steering Control Algorithms for All-terrain Crane and Performance Verification Based on Real-time Co-simulation

전지형 크레인 조향제어 알고리즘 개발 및 연성해석 기반의 성능평가

  • Seo, Jaho (Dept. of Biosystems Machinery Engineering, Chungnam National Univ.) ;
  • Lee, Geun Ho (Dept. of System Reliability, Korea Institute of Machinery and Materials) ;
  • Oh, Kwangseok (Dept. of Automotive Engineering, Honam Univ.)
  • Received : 2016.08.22
  • Accepted : 2017.01.10
  • Published : 2017.05.01
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Abstract

The goal of this study was to develop control algorithms to improve the steering performance of a 120-ton all-terrain crane. To accomplish this, a hydraulic steering system for the crane was modeled using AMESim software, and a PID steering control algorithm was designed in the MATLAB/Simulink environment. The performance of the designed controller was verified through multiphysics co-simulations based on a real-time simulator.

본 연구의 목적은 120톤급 전지형 크레인의 조향성능 향상을 위한 제어 알고리즘의 개발이다. 이를 위해 AMESim 소프트웨어를 이용하여 전지형 크레인의 유압조향시스템을 모델링하고, PID 기반의 조향제어용 제어기를 MATLAB/Simulink 환경에서 설계하였다. 설계된 제어기의 성능은 실시간 시뮬레이터를 활용한 유압 및 제어 모델간 연성해석을 통하여 검증하였다.

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References

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