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Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State Feedback

International Journal of Control, Automation and Systems v.2 no.4 , 2004년, pp.435 - 449  
Kim, Yong-Seok (Advanced Technology Center, R&D Division for Hyundai & Kia Motors. ) ;  Hong, Keum-Shik ( School of Mechanical Engineering, Pusan National University ) ;  Sul, Seung-Ki ( School of Electrical Engineering and Computer Science, Seoul National University)
Abstract

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.

주제어

#Crane control   #modeling   #observer   #pendulum motion   #state feedback   #velocity profile  

저자의 다른 논문

Hong, Keum-Shik(75) Sul, Seung-Ki(155)

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이 논문을 인용한 문헌 (8)

  1. PARK HAHN ; CHWA DONG-KYUNG ; HONG KEUM-SHIK 2005. "Feedback Linearization Control of Container Cranes" 韓國海洋工學會誌 = Journal of ocean engineering and technology, 19(5): 58~64 
  2. 2007. "" International Journal of Control, Automation and Systems, 5(3): 223~233 
  3. 2007. "" International Journal of Control, Automation and Systems, 5(4): 379~387 
  4. 2009. "" Journal of mechanical science and technology, 23(2): 381~388 
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  6. 2009. "" Journal of mechanical science and technology, 23(11): 3071~3078 
  7. 2011. "" International Journal of Control, Automation and Systems, 9(2): 301~309 
  8. 2014. "" International journal of precision engineering and manufacturing, 15(5): 811~819 

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