METHOD FOR CONTROLLING THE MOVEMENT OF CONTAINER IN A CONTAINER CRANE BY REDUCING THE TRANSFERRING DISTANCE AND THE OPERATION TIME OF THE CONTAINER

摘要

PURPOSE: A movement control method of a container in a container crane is provided to reduce the movement of the container by reducing the transferring distance and the operation time of the container through an active mass damper system. CONSTITUTION: Three movement equations about the movement of a rope(20) are induced by using a Hamilton principle(S1). A Lyapunov function to be similar to a system energy is set(S2). A formula corresponding to control force about a trolley(10) and a payload(40) is induced to make a result by differentiating the Lyapunov function into time(S3). Each corresponding value for making the control force about the trolley and the payload is measured by sensors(S4). The movement of the payload to be installed a container(31) is minimized by applying the calculated control force to a system.