컨테이너 크레인의 모델링 및 로버스트 제어에 관한 연구

This paper introduce the anti-sway control for container crane. We have separated the system two parts and modeled mathematically for container crane. One is the container part having swing motion and the other is the actuator part with a auxiliary mass. The actuator part is installed on the spreader and have a small auxiliary mass which reduce swing motion in the desired manner. In this paper, the H ∞ control theory was used in this control system to get robust controller. It's shown that the desirable performances is confirmed through the mathematical simulation. That is the robustness of this control system which use H ∞ control theory is confirmed for the ability of disturbance rejection and modeling error.