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LQR 제어를 이용한 모바일 하버 크레인 흔들림 억제 제어 (Anti-swing Control of Mobile Harbor Crane Using LQR)
Abstract :
A work efficiency and safety of Mobile Harbor crane is considered as serious problem because unwanted six degree of freedom motion can arise as result of external disturbance such as wave and wind in Mobile Harbor. Positioning at target point and eliminating the sway and surge motion of container during loading and unloading operations are the most important technologies in this Mobile Harbor project. KAIST Mobile Harbor center developed the sub-trolley control system for accurate anti-swing control. In this paper, we proposed the anti-swing controller using this sub-trolley control system. The system parameters are characterized by system identification process with respect to the 1/20 scaled D4 crane model which was already implemented. LQR controller for anti-swing is designed based on linearized planar crane model. The performance of the designed anti-swing LQR controller is verified by commercial dynamic simulation software RecurDyn™ including the nonlinear rope dynamics.
