Experimental Data based-Parameter Estimation and Control for Container Crane

Lee, Yun-Hyung; Jin, Gang-Gyoo; So, Myung-Ok

Journal of Navigation and Port Research 2008;32(5):379-385.
Published online June 30, 2008.

실험적 데이터 기반의 컨테이너 크레인 파라미터 추정 및 제어

이윤형, 진강규, 소명옥

Experimental Data based-Parameter Estimation and Control for Container Crane

Yun-Hyung Lee, Gang-Gyoo Jin, Myung-Ok So

Abstract

In this paper, we presents a scheme for the parameter estimation and optimal control scheme for apparatus of container crane system For parameter estimation, first, we construct the open loop of the container crane system and estimate its parameters based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. The RCGA plays an important role in parameter estimation as an adaptive mechanism For controller design, state feedback gain matrix is searched by another RCGA and the estimated model. The performance of the proposed methods are demonstrated through a set of simulation and experiments of the experimental apparatus.

Key Words: PI형의 상태피드백 제어기; Container crane;Parameter estimation;PI-type state feedback control; Real-coded genetic algorithm(RCGA)