Proceedings of the Korea Committee for Ocean Resources and Engineering Conference (한국해양공학회:학술대회논문집)
- 2006.11a
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- Pages.485-488
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- 2006
Modelling and Accurate Tracking Control of a Transfer Crane
트랜스퍼 크레인의 모델링 및 고정도 주행제어에 관한 연구
- Choi, Moon-Seok (Faculty of Engineering, Pukyong National University) ;
- Kim, Young-Bok (Faculty of Engineering, Pukyong National University) ;
- Suh, Jin-Ho (Pohang Institute of Intelligence Robotics) ;
- Lee, Kwon-Soon (Dept. of Electric Engineering, Dong-A University)
- Published : 2006.11.16
Abstract
The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. In this paper, the system modelling and a tracking control approach are discussed based on two-degree-of-freedom (2DOF) servosystem design.
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