Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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An Automatic Travel Control of a Container Crane using Neural Network Predictive PID Control Technique

신경회로망 예측 PID 제어법을 이용한 컨테이너 크레인의 자동주행제어

  • 서진호 (동아대학교 전기공학과 국가지정연구실) ;
  • 이진우 (동아대학교 전기공학과 국가지정연구실) ;
  • 이영진 (항공기능대학 전기계측공학과) ;
  • 이권순 (동아대학교 전기전자컴퓨터공학부)
  • Published : 2005.01.01
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Abstract

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

Keywords

References

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