Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지

Effects of Fleet-Angle on Sway Motions of a Cargo: Design Force Calculation

로프각이 화물의 진자운동에 미치는 영향: 설계력의 계산

  • SHIN JANG-RYONG (Daewoo Shipbuilding and Marine Engineering Ltd.) ;
  • PARK YONG-HYUN (Daewoo Shipbuilding and Marine Engineering Ltd.) ;
  • GOH SUNG-HEE (School of Mechanical Engineering, Pusan National University) ;
  • HONG KEUM-SHIK (School of Mechanical Engineering, Pusan National University)
  • Published : 2005.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

Over the last 10 years, significant changes have taken place in the world of container shipping. The size and the speed of the quay-side crane have been increased considerably. As a result, the stiffness of a crane is decreased and the sway oscillation of cargo may become violent. The purpose of this paper is to determine the design force caused by the sway oscillation of the cargo, lifted by four ropes, with an initial fleet angle, and the governing equations of the lifting system for an anti-sway control system design.

Keywords

References

  1. 손유식, 김영복 (2001). '컨테이너 크레인의 흔들림 방지장치 개발에 관한 연구', 한국해양공학회지, 제14권, 제4호, pp 35-42
  2. 신민생 (1995). 다변수 제어계 설계법을 이용한 컨테이너 크레인의 운전자동화에 관한 연구, 부산수산대학교 대학원 공학박사학위논문
  3. 신장용 (1998). 부산항 컨테이너 크레인의 흔들림 원인 규명 및 대책, 대우중공업 연구보고서
  4. 이종규, 이상룡 (2000). '비선형 천정크레인시스템의 위치제어 알고리즘 개발' 한국정밀공학회지, 제17권, 제4호, pp 142-147
  5. 이진우,여태경, 안휘웅, 김상봉 (1998). '2자유도 서보제어기를 이용한 크레인의 Anti-Sway 제어', 한국해양공학회지, 제 12권, 제4호, pp 17-23
  6. 홍금식, 손성철, 이만형 (1997a). '컨테이너크레인의 흔들림제어 (Part I): 모델링, 제어전략, 기준선도를 이용한 오차피드백 제어', 제어.자동화.시스템공학논문지, 제3권, 제1호, pp 23-31
  7. 홍금식, 손성철, 이만형 (1997b). '컨테이너크레인의 흔들림제어 (Part II): 트롤리 주행속도 조절을 통한 진자운동의 제어', 제어.자동화.시스템공학논문지, 제3권, 제2호, pp 132-138
  8. 홍금식 (1999). '컨테이너 기중기의 제어: 수정된 시간최적주행과 비선형 잔류흔들림 제어', 제어.자동화시스템공학논문지, 제5권, 제5호, pp 630-639
  9. Auernig, J.W. and Trager, H. (1987). 'Time Optimal Control of Overhead Crane with Hoisting of the load', Automatica, Vol 23, No 4, pp 437-447 https://doi.org/10.1016/0005-1098(87)90073-2
  10. David, S.R. (1989). 'Swing-free Transport of Suspended Objects', IEEE Transactions on Robotics and Automation, Vol 5, No 2, pp 234-236 https://doi.org/10.1109/70.88044
  11. Fang, Y, Dixon, W.E., Dawson, D.M and Zergeroglu, E. (2003). 'Nonlinear Coupling Control laws for an Underactuated Overhead Crane System', IEEE/ ASME Transactions on Mechatronics, Vol 8, No 3, pp 418-423 https://doi.org/10.1109/TMECH.2003.816822
  12. FEM1001 (Federation Europeenne de la Manutention), (1987). Rules for the Design of Hoisting Appliances, 3rd edition
  13. Hong, K.S., Park, B.J. and Lee, M.H. (2000). 'Two-Stage Control for Container Cranes', JSME International Journal Series C, Vol 43, No 2, pp 273-282 https://doi.org/10.1299/jsmec.43.273
  14. Hong, K T., Huh, C.D. and Hong, K.S. (2003). 'Command Shaping Control for Limiting the Transient Sway Angle of Crane Systems', International Journal of Control, Automation, and Systems, Vol 1, No 1, pp 43-53
  15. Kim, Y.S., Hong, K.S. and Sul, S.K. (2004). 'Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State Feedback', International Journal of Control, Automation, and Systems, Vol 2, No 4, pp 435-449
  16. Marttinen, A, Virkkunen, J. and Salmine, R.T. (1990). 'Control Study with a Pilot Crane', IEEE Trans. on Education, Vol 33, No 3, pp 298-305 https://doi.org/10.1109/13.57076
  17. Watanabe, I. (1996). 'The Kobe Comeback - Meeting Changing Operational Requirements - Lessons for the Future', TOC'96
  18. Rahn, C.D., Zhang, F., Joshi, S. and Dawson, D.M. (1999). 'Asymptotically Stabilizing Angle Feedback for a Flexible Cable Gantry Crane', ASME Transactions, Journal of Dynamic Systems, Measurement, and Control, Vol 121, No 3, pp 563-566 https://doi.org/10.1115/1.2802516
  19. Singhose, W., Porter, L., Kenison, M. and Kriikku, E. (2000). 'Effects of Hoisting on the Input Shaping Control of Gantry Cranes', Control Engineering Practice, Vol 8, No 10, pp 1159-1165 https://doi.org/10.1016/S0967-0661(00)00054-X