관측기를 갖는 트랜스퍼 크레인의 주행제어기 설계에 관한 연구

Container handing effectively is one of the most important factors in port because working time is linked soon into cost. Therefore, from the middle of 1990’s, RMGC(Rail-Mounted Gantry Crane) and RTGC(Rubber-Tired Gantry Crane) have been developed and widely used to operate containers in yard. Recently, great studies are researched by using cameras and sensors for unmanned transfer crane, but we are not satisfied. Specially, RTGC is more difficult than RMGC in automatic control. Although, RTGC is largely advantaged to free driving environment, it has some considerable disadvantages. For example, tire slip, tilt of the chassis by lacking of tire air pressure, etc. Also, those researches and technologies have been reached in deficient level. So, in this paper, we propose a new approach to design tracking control system which involves the mathematical modeling of the RTGC and an observer design based on the 2DOF(Two degree of freedom) servo system design approach to obtain the desired state informations. In other to design the observer, we use LMI(Linear Matrix Inequalities) method. From simulation results, the good control performance of the designed control systems is evaluated.