간이 스위칭 전략에 의한 크레인 흔들림 제어계 설계

In this paper, we suggest a new type of swing motion control system for the crane in which a small auxiliary mass is installed on the spreader. The swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, as the basic and first step, we apply the LQ based control technique to the anti-swing motion control system design problem. And we consider the variation of the length between spreader and trolley by the simple switching strategy. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulations.