면역알고리즘을 이용한 크레인의 주행 제어에 관한 연구

In this paper, we introduced an optimal control method using artificial immune algorithm for a stacking crane system. During the operation of crane system in port yard, the objective is to transport the load to a goal position as quickly as possible without anti-sway. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, 2-degree of freedom(OOF) Pill controller is used to control stacking crane to reduce anti-sway and traveling time. The artificial humoral immune algorithm is used to tune the controller parameters. The computer simulations show that the proposed method has better performances than the other method. As the result, the application of proposed controller is analyzed to have robustness about disturbance which is wind in the port yard. This control structure can be also applied as on-line regulator of control system.