APPARATUS FOR CONTROLLING A CRANE, COMPRISING A DISTURBANCE OBSERVER, AND METHOD FOR CONTROLLING A CRANE

摘要

Disclosed are an apparatus and method for controlling a crane. An indirect adaptive controller for an overhead traveling crane according to the present invention can handle variations in the mass of a large load. Generally, methods for controlling an overhead traveling crane are decoupling control methods which require dynamic expansion techniques. However, as the mass of a load may not be known in advance, it is difficult to adopt a decoupling control method which removes all of the nonlinearities of an overhead traveling crane system. To overcome the above-described problem, the present invention adopts an online load mass measuring instrument which is developed using a Lyapunov function analysis. The adaptive controller of the present invention can operate smoothly due to the fast convergence rate thereof, despite the significant variation in the mass of a load.