실용화를 고려한 Anti-Sway 시스템 구축: 카메라를 이용한 크레인 운동 계측 및 제어
A Development of Anti-sway System for Real Application: Measurement and Control of Crane Motions Using Camera
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In general, the swing motions of a crane are controlled and suppressed by controllingthe trolley motion. In many of our previous studies, we suggested a new type of anti-sway control system for a crane. In this proposed control system, a small auxiliary mass (moving-mass) is installed on the spreader and moving this auxiliary mass controls the swing motion. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, measuring systems based on a laser sensor or other means are not veryuseful in real-worldapplications. So, in this paper, animage sensor is used to measure the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method called Vector Code Correlation (VCC), which was devised to consider real environmental conditions. The H∞ based control technique is applied to suppress the swing motion of the crane. Experimental results showed that the proposed measurement and control system based on an image sensor is useful and robust to disturbances.
Abstract
In general, the swing motions of a crane are controlled and suppressed by controllingthe trolley motion. In many of our previous studies, we suggested a new type of anti-sway control system for a crane. In this proposed control system, a small auxiliary mass (moving-mass) is installed on the spreader and moving this auxiliary mass controls the swing motion. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, measuring systems based on a laser sensor or other means are not veryuseful in real-worldapplications. So, in this paper, animage sensor is used to measure the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method called Vector Code Correlation (VCC), which was devised to consider real environmental conditions. The H∞ based control technique is applied to suppress the swing motion of the crane. Experimental results showed that the proposed measurement and control system based on an image sensor is useful and robust to disturbances.
참고문헌 (12)
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- 안상백, "크레인 스프레더의 Swing Motion 제어에 관한 연구 : 로프 길이변화를 고려한 경우", 한국동력기계공학회지, 8(1), pp.55~61 (2004), 한국동력기계공학회
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- Koyama, D., "A Technique of High-speed Template Matching using Vector Code Correlation", Preprints of the 46th Japan Joint Automatic Control Conference (2003)
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