보간-LQ 기법을 이용한 컨테이너 크레인의 강인한 제어기 설계

It is essential to reduce the working cycle time of container crane for high efficiency in cargo handling. The quick movement of trolley without big overshoot and residual swing motion of container in the vicinity of target position is required for the high productivity of container crane. The system parameters of container crane such as the length of hoist wire rope and cargo mass change in operation. The conventional container crane using controller with fixed gains is not robust and causes big overshoot near the target position and poor swing control problems. Because the system parameters of container crane change during operation, The robustness and good control performance can not be obtained the by conventional controller such as LQ and PID controllers based on fixed control gains although controller gains are well tuned correctly at initial status, In this paper we present an interpolation-LQ control technique which tunes continuously gains of controller by interpolating the gains of sub-LQ controllers. In this, we use Lagrangian interpolation method. The proposed controller design technique is applied to the container crane system for simulations. Several cases of simulations are carried out in order to prove the control effectiveness and robustness. The simulation results of proposed controller are compared with those of LQ controller. The results showed better control performance than those of LQ controller.