|Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State Feedback
Yong-Seok Kim, Keum-Shik Hong*, and Seung-Ki Sul
International Journal of Control, Automation, and Systems, vol. 2, no. 4, pp.435-449, 2004
Abstract : In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.
Crane control, modeling, observer, pendulum motion, state feedback, velocity profile.