Robust Controller Design of Container Cranes for Improving the Stevedoring Efficiency in Port

Lee, Young-Jae; Lee, Yun-Hyung; So, Myung-Ok

Journal of Navigation and Port Research 2007;31(6):531-536.
Published online August 30, 2007.

항만효율향상을 위한 컨테이너 크레인의 강인한 제어기 설계

이영재, 이윤형, 소명옥

Robust Controller Design of Container Cranes for Improving the Stevedoring Efficiency in Port

Young-Jae Lee, Yun-Hyung Lee, Myung-Ok So

Abstract

In this paper we present an interpolation-LQ control technique which tunes continuously the controller gain by interpolating the gains of sub-LQ controllers. The proposed controller design technique is applied to the container crane system for simulations. Several cases of simulations are carried out in order to prove the control effectiveness and robustness. The simulation results of the proposed controller are compared with those of LQ controllers. The results showed better control performance than those of LQ controllers.

Key Words: LQ 제어기; Container crane;LQ controller;Parameter change;Interpolation;Gain tuning

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