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이송중 발생하는 흔들림 방지에 의한 크레인 성능향상에 관한 연구
김도형(D. H. Kim),김영복(Y. B. Kim),이권순(K. S. Lee),서진호(J. H. Sur) 한국동력기계공학회 2005 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. In this paper, we apply the H∞ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion. Especially, we consider the case in which the actual transportation process is considered, because the all process of capturing and loading produce the undesirable swing motion.