Anti-Sway Control for Crane System Using Two Degree of Freedom Servo Controller

J. Ocean Eng. Technol. 1998;12(4):117-123.

Jin Woo Lee;Tae Kyung Yeu;Hui Ung An;Sang Bong Kim;

2자유도 서보제어기를 이용한 크레인의 Anti-Sway 제어

이진우;여태경;안휘웅;김상봉

한국산업안전관리공단;부경대학교 대학원;부경대학교 기계자동차공학부

Keywords: 2DOF(two degree of freedom), servo controller, anti-sway,

핵심용어: 서보 제어기

Abstract

"In designing the anti-sway controller for crane system in the industrial field, one of the basic problem is to keep the stability of system, even if the mathematical model of the plant is not exact and disturbance exists. From this point of view, a two-degree-of-freedom(2DOF) servo controller has influnce on the system in which the integral compensation is effective only when a modeling error and/or a disturbance input exist. In this paper, the change of load weight and the variation of wire rope length considered as the structured uncertainty, and we design the 2DOF servo controller using independently the informations of reference signal and control output with both feedforward and feedback. The effectiveness is proved through the results for the anti-sway system in the system with the position control of trolley. "