Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Anti-Sway Position Control of an Automated Transfer Crane Based on Neural Network Predictive PID Controller

  • Suh Jin-Ho (Department of Electrical Engineering, Dong-A National University) ;
  • Lee Jin-Woo (Department of Electrical Engineering, Dong-A National University) ;
  • Lee Young-Jin (Department of Electrical Instrument and Control, Korea Aviation Polytechnic College) ;
  • Lee Kwon-Soon (Division of Electrical, Electronic, and Computer Engineering, Dong-A University)
  • Published : 2005.02.01
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Abstract

In this paper, we develop an 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 simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, 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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