• Journal of Power System Engineering
• /
• v.11 no.1
• /
• pp.134-139
• /
• 2007

A delivery ship is used to handle the cargo with the crane to/from the ships. The ship is inclined in the direction of a cargo which is hung on a crane. In this case, a arc shaped rail should be in the equilibrium state to get good anti-rolling performance. In this study, a device and control algorithm are developed to take accurate and quick equilibrium of the rail. The device is composed of a hinged immovable support, screw jack and damper. And the control system is based on I-PD control law to consider of control input saturation and overshoot. The controller is composed of integral controller of feedforward path and proportional-derivative controller of feedback path. The parameters of controller is designed to follow the reference signal and to remove overshoot. The simulation results show that the desirable control performance is achieved.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2015.08a
• /
• pp.93.2-93.2
• /
• 2015

플라즈마를 포함한 반응성 가스 공정 분석용 사중극자 질량분석기의 필라멘트의 파손양상을 조사하였다. 또한 유전체 증착층이 이온원 성능에 미치는 영향을 분석하기 위하여 이온원의 일반적인 가동 전압 조건에서 Poisson방정식을 이용하여 전위를 수치 해석으로 구하였다. 사용중 파손된 필라멘트의 파단면을 주사전자현미경으로 관찰결과, 수직으로 절단되는 양상과 직경이 점차 작아지면서 erosion되는 두가지 양상을 보였다. 또한 파단면은 표면균열과 패시팅(faceting) 현상을 보였다. 필라멘트 사용시 가장 큰 문제는 패시팅(faceting)이다. 대부분의 결정에서는 다른 결정면보다 에너지 준위가 낮은 결정면이 존재한다. W 원자는 고온에서 확산 또는 증발하여 표면에서 다시 응축할 때 표면 에너지를 최소화하기 위한 독특한 평형 형상이 만들어 지는데 이것이 패시팅의 구동력이다. 이때 국부적으로 단면적이 감소하는 곳이 생기는데, 이 지점이 집중적으로 가열되고 증발이 가속화하여 파손된다. 파단면을 EDS 분석결과, 산화물을 포함한 F, Fe 및 C이 검출되었다. 이 F과 C는 공정중 사용된 CF4의 분해에 의한 것으로 생각되며, 파손된 필라멘트를 Ar 유도결합 플라즈마로 처리한 결과 이 F, Fe 및 C의 양이 감소하였다.

• Journal of Power System Engineering
• /
• v.11 no.4
• /
• pp.103-108
• /
• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• Journal of Power System Engineering
• /
• v.7 no.3
• /
• pp.54-60
• /
• 2003

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is shown to be useful and robust to disturbances like winds and initial sway motion.

• Journal of Power System Engineering
• /
• v.8 no.1
• /
• pp.55-61
• /
• 2004

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.29 no.5 s.236
• /
• pp.777-785
• /
• 2005

The swing motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. And, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called 'Structure/control Simultaneous Method' is used. In this paper, the simultaneous design method is used to determine the optimum weight of moving mass such that the optimal system performance would be achieved. And the experimental result shows that the proposed control strategy is useful to the case of that the controlled system is exposed to the uncertainties and, robust to the unexpected disturbance inputs.

• Journal of Ocean Engineering and Technology
• /
• v.22 no.4
• /
• pp.90-96
• /
• 2008

In general, the swing motions of a crane are controlled and suppressed by controlling the trolley motion. In many of our previous studies, we suggested a new type of anti-sway control system for a crane. In this proposed control system, a small auxiliary mass (moving-mass) is installed on the spreader and moving this auxiliary mass controls tire swing motion. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, measuring systems based on a laser sensor or other means are not veryuseful in real-worldapplications. So, in this paper, animage sensor is used to measure the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method called Vector Code Correlation (VCC), which was devised to consider real environmental conditions. The H $\infty$ based control technique is applied to suppress the swing motion of the crane. Experimental results showed that the proposed measurement and control system based on an image sensor is useful and robust to disturbances.

• Journal of Power System Engineering
• /
• v.8 no.3
• /
• pp.58-66
• /
• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.631-636
• /
• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the experiment result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Journal of Power System Engineering
• /
• v.12 no.6
• /
• pp.50-55
• /
• 2008

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. Futhermore the measuring systems based on image sensor have been proposed also. To obtain the robustness for our control system, $H_{\infty}$ based control techniques and other approach have been applied to suppress swing motion. As well known, the robust control technologies based on $H_{\infty}$ control need complicated and difficult process. In the result, the obtained closed-loop system becomes to high order system which may give us many difficulties to apply it to the real plants. Therefore, we introduce an easy approach which is based on LQ control theory. In this approach, we introduce the frequency dependent weighting matrices which give the system filters to shape frequency characteristics of the controlled system and guarantee the control performance.