동적파라미터 변동을 고려한 윈치 및 부하 운동제어시스템설계에 관한 연구
A study on winch and load motion control system design considering dynamic parameter variation
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초록
본 연구에서는, 윈치, 로우프 및 부하 운반용 대차로 구성되는 시스템의 운동제어문제에 대해 고찰하고 있다. 특히 윈치와 대차간의 연결된 로우프 길이가 긴 경우에 있어서, 로우프 길이변화에 의해 물리파라미터가 변하고, 이에 따라 동적특성이 변하는 경우에도 제어성능을 확보할 수 있는 제어기 설계법에 대해 고찰하였다. 즉, 로우프 길이변화를 제어대상의 파라미터 변동 뿐 만 아니라, 제어력을 발생시키는 과정에도 적극적으로 반영하여 제어성능을 유지할 수 있도록 하는 제어기 설계법을 제안하였고, 시뮬레이션을 통해 그 유효성을 하였다.
Abstract
In this study, a winch and load motion control system design method is introduced. Especially, the winch and load (moving cart) are connected with long wire rope which is extended to few kilometers long. Therefore, the rope length changes such that many dynamic parameter values are changed as well by winding and releasing the rope from the winch system. In this paper, the authors designed the control system by considering the real time parameter variation to occupy and keep good control performance continuously. The effectiveness of introduced method was evaluated by simulation results.
참고문헌 (10)
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