불확실성을 갖는 크레인 부하 잔여 진동 억제 방안에 관한 연구

Abstract

In this study, a control system design problem is studied for crane operating. Especially, Among many different kinds of a crane system, the issues on crane operating installed on the vessel are considered. As well known, marine systems including cranes are exposed to severe environmental conditions. Then, operators make many difficulties on crane operating and control system design. Especially, the position control for the load in the presence of unpredictable external disturbances is a crucial task. Furthermore, suppressing load vibration is also immensely critical to satisfying rigorous safeties and efficiency requirements. Therefore, the issue of developing and improving load position control performance is a crucial fact. In this study, the pilot offshore crane model, which is equipped with a main winch that fundamentally used and a sub-winch system that has superior performance at high-frequency residual vibrations of a load and a wire rope, is built. In real cases, it is impossible to accurately measure the motions of the load and the wire rope owing to the variable types of them and other environmental constraints. This means that the data of load position collected by the laser sensor cannot be used in the experimental system to calculate the control signals. Therefore, in order to measure the necessary data for the experimental system, the incremental encoder and the load cell are installed. Especially, the load cell is used for estimating the load motion variation. Then, the author introduces a practical approach and shows useful control performance from experiment results. A nonlinear control design method is applied to the pilot crane model and comparison results are shown also. From the results of this study, the usefulness of tried control system design method is verified.