Domestic Conference

조로만, 노명일, 함승호, "다관절 크레인의 좌우동요 저감을 위한 제어 방법에 관한 연구", 2017년도 한국CDE학회 동계학술발표회, pp. 584, 평창, 2017.02.08-10

by SyDLab posted Feb 17, 2017
?

단축키

Prev이전 문서

Next다음 문서

ESC닫기

크게 작게 위로 아래로 댓글로 가기 인쇄
Extra Form
Abstract Ship - mounted cranes are widely used in transportation and installation of heavy load to the seabed. Harsh environment conditions cause the load to swing, which make offshore construction difficult and time consuming. To minimize such a problem, the cranes are equipped with compensation equipment for the sway motion. So that the objection of the study is to develop the anti-sway control system for the selected cranes. As the knuckle boom crane is a complex mechanical system, it can be modeled as a spherical pendulum attached to a three link rigid body. In this study, in order to transport a subsea manifold by the knuckle crane without risk, an anti-sway control system is designed and tested. Two proposed controllers are implemented in this work: computed torque controller and sliding mode controller, in addition, the comparative study between the uncontrolled and controlled results of the controllers were performed. As a result, simulation results included to demonstrate that the proposed control algorithm reduces the impact of the disturbance.
Publication Date 2017-02-09

조로만, 노명일, 함승호, "다관절 크레인의 좌우동요 저감을 위한 제어 방법에 관한 연구", 2017년도 한국CDE학회 동계학술발표회, pp. 584, 평창, 2017.02.08-10