Active Control of ER Valves with Application to Seaport Cargo Handling System

초록

This paper presents the position control of the ER valve bridge cylinder with application to a cargo handling system for a seaport subjected to time-varying tide and wave motion. After proving the controllabilty of the ER valve bridge circuit, a laboratory small-sized model of the cargo handling system is constructed. The control scheme consisting of a sequence controller for activating bridges and wing and a sliding mode controller for the position of the platform. The control scheme is experimentally realized and control results for loading and unloading of the containers are provided.