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Development of High Speed Controller of Container Crane by Binary Input Using Mixed Logical Dynamical System

This paper proposes an effective control system for a container crane. For efficient crane operation, it is necessary to realize accurate positioning of the crane, to minimize oscillation of containers and to realize the fastest possible control time while they are being carried. The crane input is assumed to be binary, with maximum and minimum values for quick control. The entire crane system including the binary input is considered as a hybrid system. A hybrid system is a generic term for a system in which continuous and discrete dynamics exist together. We control the entire crane system using the Mixed Logical Dynamical (MLD) system, which is a representation method for a hybrid system. It is generally known that an MLD system can be controlled by Model Predictive Control (MPC). We confirm the effectiveness of the proposed technique through an experiment using a crane model.