A Study on the Development of Residual Sway Motion Control System for the Container Crane

J. Ocean Eng. Technol. 2000;14(4):35-42.

컨테이너 크레인의 흔들림 방지장치 개발에 관한 연구

손유식,김영복

경상대학교 수송기계공학부,해양산업연구소

Keywords: Sway control problem, Trolley, Container crane, Residual swing motion, Unexpected disturbance

핵심용어: 흔들림 제어문제, 트롤리, 컨테이너 크레인, 잔여흔들림, 예측 불가능한 외란

Abstract

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.