제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

크레인 구동부의 Yaw Motion에 관한 연구

The Study on Yaw Motion of Crane Driving Mechanism

  • 이형우 (부산대학교 지능기계공학과) ;
  • 이성섭 (부산대학교 지능기계공학과) ;
  • 박찬훈 (한국기계연구원 자동화연구부) ;
  • 박경택 (한국기계연구원 자동화연구부) ;
  • 이만형 (부산대학교 기계공학부)
  • 발행 : 2000.10.01
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초록

This paper studied on the yaw 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. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

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