2자유도 서보제어기를 이용한 크레인의 Anti-Sway 제어

In designing the anti-sway controller for crane system in the industrial field, one of the basic problem is to keep the stability of system, even if the mathematical model of the plant is not exact and disturbance exists. From this point of view, a two-degree-of-freedom(2DOF) servo controller has influnce on the system in which the integral compensation is effective only when a modeling error and/or a disturbance input exist. In this paper, the change of load weight and the variation of wire rope length considered as the structured uncertainty, and we design the 2DOF servo controller using independently the informations of reference signal and control output with both feedforward and feedback. The effectiveness is proved through the results for the anti-sway system in the system with the position control of trolley.