Positioning Control of Linear Motor-Based Container Transfer System with Varying Weight

In this paper, we introduced a linear motor-based transfer system with an active PID controller which can be replaced with an automated guided vehicle (AGV) for the port automation. This system, which is named LMCTS(liner motor-based container transfer system), is based on PMLSM (permanent magnetic linear synchronous motor) which basically consists of stator modules on the rail and shuttle car. Therefore more progressive and adaptive control mechanisms should be required to control a system with large variation of container weight, the difference of each characteristic of stator modules, and a stator module´s trouble etc. We introduced an active control mechanism with an online tuning scheme using modified evolutionary strategy. Some computer simulations are implemented to assess the robustness of the proposed system.