Title :
Anti-sway control of container cranes as a flexible cable system
Author :
Kim, Chang-Won ; Hong, Keum-Shik ; Lodewijks, Gabriel
Author_Institution :
Dept. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ., Busan, South Korea
Abstract :
A new approach for the anti-sway control of container cranes using coupled partial and ordinary differential equations is investigated. The dynamics of the hoisting rope is derived in the form of an axially moving cable equation, while the dynamics of the actuator is given in the form of an ODE. The control objective is to suppress the transverse vibrations of the load via a domain control. A control law based upon the Lyapunov´s second method is derived. It is revealed that a time-varying control force and a suitable passive damping can successfully suppress the transverse vibrations. The exponential stability of the closed loop system is proved.
Keywords :
Lyapunov methods; asymptotic stability; cableway systems; closed loop systems; cranes; force control; motion control; partial differential equations; time-varying systems; vibration control; Lyapunov second method; actuator dynamics; antisway control; closed loop system; container cranes; exponential stability; flexible cable system; hoisting rope; ordinary differential equations; partial differential equations; time-varying control force; transverse vibrations suppression; Actuators; Closed loop systems; Containers; Control systems; Cranes; Damping; Differential equations; Force control; Stability; Vibration control;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387598
