• 전기학회논문지
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• 제62권3호
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• pp.407-413
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• 2013

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2753-2755
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• 2003

Overhead crane must do to control occurrence of Anti-Sway according to work situation that is used in case move industry spot's heavy freight, and do safe transfer of freight. Transfer process that make use of crane suspends and consist of series action that put down freight to do relevant addition decreasing the speed before objective while move by schedule section equal speed because increasing the speed after lift thing. This need skill degree by experience because there are operator's function and affinity. Also, must control this effectively because can affect big productivity elevation according to effect that get in transfer of safe freight, Therefore, illuminate physical characteristic of crane and algorithm of motor drive department and there is purpose of this research to do so that correct control may be available through over head crane's shaking control and position control designing LQ controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 B
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• pp.1465-1467
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• 2005

In this paper, the harbor container crane which transports containers between a container ship and trucks in the harbor is modeled. The equation of motion is simplified for control purpose. The pole placement technique is used to control the crane to minimize load swing angle The objective of the control is to transfer the load as quickly as possible, while minimizing the amplitude of swing at the end of transfer. Computer simulations are provided.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.452-461
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• 2007

Adaptive anti-sway and trajectory tracking control of overhead crane is presented, which utilizes Fuzzy Uncertainty Observer(FUO) and Fuzzy based Variable Structure Control(FVSC). We consider an overhead crane system which can be decoupled into the actuated and unactuated subsystems with its own lumped uncertainty such as parameter uncertainties and external disturbance. First, a new method for anti-sway control using FVSC is proposed to improve the conventional method based on Lyapunov direct method, while a conventional trajectory tracking control law using feedback linearization is directly adopted. Second, FUO is designed to estimate one of the two lumped uncertainties which can compensate both of them, based on the fact that two lumped uncertainties are coupled with each other. Then, an adaptive anti-sway control is proposed by incorporating the proposed FVSC and FUO. Under the condition that the observation error is Uniformly Ultimately Bounded(UUB) within an arbitrarily shrinkable region, the overall closed-loop system is shown to be Globally Uniformly Ultimately Bounded(GUUB). In addition, the Global Asymptotic Stability(GAS) of it is shown under the vanishing disturbance assumption. Finally, the effectiveness of the proposed scheme has been confirmed by numerical simulations.

• 조명전기설비학회논문지
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• 제13권4호
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• pp.134-141
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• 1999

본 논문은 전동차량용 전원장치의 출력전압 제어 안정성을 향상시키기 위한 연구이다. 입력전압 변동 및 부하 변동 등 과도상태시 출력 정전압 제어를 수행할 경우, L-C 필터부에서 공진이 발생함으로써 출력전압이 흔들리고 시스템이 불안해진다. 본 논문에서, 출력전압제어의 안정성을 확보하기 위해 주필터부에 공진을 억제하는 댐핑회로를 새롭게 제안하고, 이에 적합한 제어방법을 소개한다. 제안한 댐핑회로는 R-L로서 소형이고 간단히 구성된다. 제어기에는 과도상태분의 궤환제어와 대역저지필터를 적용한다. 또한 전력회로는 3레벨 PWM방식을 적용하였다. 이로서 과도상태에서 출력전압의 흔들림없이 변동폭을 10[%]이하로 제어할 수 있었으며, 정상상태의 출력 전압 왜형율도 3[%]이하로 감소시켰다.