The Study on Lateral Motion of Crane Driving Mechanism

크레인 구동부의 Lateral Motion에 관한 연구

  • 이형우 (부산대 대학원 지능기계공학과) ;
  • 이성섭 (부산대 대학원 지능기계공학과) ;
  • 박찬훈 (한국기계연구원 자동화연구부) ;
  • 박경택 (한국기계연구원 자동화연구부) ;
  • 이만형 (부산대 기계공학부)
  • Published : 2000.11.01

Abstract

This paper studied on the lateral motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But, if the gantry crane is unmanned, it is automatically controlled without any human operation. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to these problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane are derived. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and the yaw angle. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

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