In this study, a winch and load motion control system design method is introduced. Especially, the winch and load (moving cart) are connected with long wire rope which is extended to few kilometers long. Therefore, the rope length changes such that many dynamic parameter values are changed as well by winding and releasing the rope from the winch system. In this paper, the authors designed the control system by considering the real time parameter variation to occupy and keep good control performance continuously. The effectiveness of introduced method was evaluated by simulation results.

• 박환철(부경대학교 실습선 가야호) | Hwan-Cheol PARK (Training Ship Kaya, Pukyong National University)
• 김영복(부경대학교 기계시스템공학과) | Young-Bok KIM (Department of Mechanical System Engineering, Pukyong National University) Corresponding author