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Anti-sway control of container cranes: inclinometer, observer, and state feedback 435 anti-sway control of container cranes: inclinometer, observer, and state feedback.
| Content Provider | CiteSeerX |
|---|---|
| Author | Kim, Yong-Seok Hong, Keum-Shik Sul, Seung-Ki |
| Abstract | 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. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | State Feedback Anti-sway Control Container Crane Novel Anti-sway Control System Time-scale Analysis Control System 4-size Pilot Crane Angular Velocity State Feedback Controller Pilot Crane Real Rubber-tired Gantry Crane Sway Sensor Trolley Velocity Container Terminal Experimental Result Rail-mounted Quayside Crane Vision System |
| Content Type | Text |
| Resource Type | Article |
