Stabilization Controller Design of a Container Crane for High Productivity in Cargo Handling Using a RCGA

Lee, Soo-Young; Ahn, Jong-Kap; Choi, Jae-Jun; Son, Jeong-Ki; Lee, Yun-Hyung; So, Myung-Ok

Journal of Navigation and Port Research 2007;31(6):515-521.
Published online August 30, 2007.

실수코딩유전알고리즘을 이용한 하역생산성 향상용 컨테이너 크레인의 안정화 제어기 설계

이수룡, 안종갑, 최재준, 이윤형, 이윤형, 소명옥

Stabilization Controller Design of a Container Crane for High Productivity in Cargo Handling Using a RCGA

Soo-Young Lee, Jong-Kap Ahn, Jae-Jun Choi, Jeong-Ki Son, Yun-Hyung Lee, Myung-Ok So

Abstract

To increase the stevedore efficiency and service level at container terminal, it is essential to reduce working time of container crane which has a bottle neck in the logistic flow of container. The working speed and safety are required to be improved by controlling the movement of the trolley as quick as possible without big overshoot and any residual swing motion of container in the vicinity of target position. This paper presents optimal state feedback control using RCGAs in the case of existing constrained conditions.

Key Words: LQ 제어기; Container crane;LQ controller;Constrained condition;Real-coded genetic algorithm(RCGA)