|제목(국문)||미지의 부하와 마찰을 갖는 컨테이너 크레인의 적응 가변구조제어|
|제목(영문)||Adaptive Variable Structure Control of Container Cranes with Unknown Payload and Friction|
,동의대학교 메카트로닉스공학과, email:email@example.com
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임중선 (L.J.S ,동의대학교 메카트로닉스공학과 ) ▷공저자네트워크등록하기
This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.
|keyword||container cranes, sway suppression, variable structure control, friction compensation, unknown payload|