earticle

영어

Lots of researches and applications on the automated overhead cranes in shops have been done for some decades, but a few successful results are reported. A more reasonable control system fit to requirements of manufacturing industries is suggested in the study. The controller was designed in the continuous time domain by loop-shaping method. Sway of the rope is suppressed by anti-sway control method. The sway angle of the rope is measured by a sway angle sensor which is mechanically in contact with the rope. The real-time control law is comprised of the position and the anti-sway controller.
Some algorithms required for coil yard operation as well as main control algorithms such as reference position generation, position control and anti-sway control have been designed and fully tested on a crane in the steel-making works. The designed crane control system showed satisfactory performance on position control accuracy and antisway of rope. The maximum positional error is 20mm and the maximum sway error is 0.07 degrees in the destination position.