• 대한기계학회논문집A
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• 제25권9호
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• pp.1468-1474
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• 2001

In this paper, a new fuzzy-logic anti-swing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control the trolley position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of trolley position and rope length for the simultaneous travel, traverse, and hoisting motions of the crane. The effectiveness of the proposed control is shown by experiments with a prototype three-dimensional overhead crane.

• 화약ㆍ발파
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• 제22권3호
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• pp.71-78
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• 2004

국내 재개발 및 건설공사현장에서 암반파쇄 및 굴착 절취 작업의 일환으로 화약을 사용하는 발파공법과 유압 장비를 이용한 무진동 절취 공법, 브레이커를 이용한 파쇄 공법이 대표적으로 사용되고 있다. 유압력을 이용한 무진동 절취공법은 진동, 소음, 비석 등의 공해를 제어하고, 현장에 인접한 보안물건을 보호하며, 기상조건에 제한을 받지 않아 민원을 예방함과 동시에 암 절취 공사의 효율성을 높일 수 있어 암반 파쇄에 따른 여러 분야에서 적용되고 있다. 그러나, 현행 무진동 절취공법은 암반의 특성을 정확하게 파악하지 않고 대부분을 경험에 의존하여 시공패턴을 설정하고, 시공이 행하여지고 있다. 이러한, 각각의 암반 파쇄 공법은 그 적용에 따른 경제적 이익과 시공성, 안전성등을 극대화 할 수 있으나, 반대로 적절하지 못한 공법 적용은 커다란 경제적 손실과 시공성 및 안전성의 저하를 가져오므로 현장 주변 여건과 암반 상황 등 현장 여건을 종합 검토하여 공법 선정이 이루어져야 한다.

• 대한기계학회논문집A
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• 제25권9호
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• pp.1461-1467
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• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• 한국소음진동공학회논문집
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• 제20권10호
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• pp.900-906
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• 2010

This note proposes vibration-free motor control through modified LQG/LTR methodology. A conventional LQG/LTR method is a design tool in the frequency domain. However, unlike the conventional one, the proposed one is a time response based design method. This feature is firstly designed by parameterized settling time control gain through the target loop design procedure and the feature is secondly realized by loop transfer recovery. In order to show convergence to the target loop transfer functions, asymptotic behaviors of the open and the closed loop transfer functions are shown. At the conclusion, it is verified that the proposed method is robustly stable to parametric uncertainties through ${\mu}$-plot.

• 한국정밀공학회지
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• 제11권5호
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• pp.143-152
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• 1994

The velocity trajectory profile of trolley is designed to minimize both swinging while transportation of load and the stop position error at the final stop position. This profile is designed to be automatically programmed by the digital control algorithm when the length of chain and the desired travel distance are given as a priori. Also, to minimize both swinging and the stop position error the anti-swing controller which improves poor damping characteristics of the crane and the stop position controller are employed. The experimentalresults of sequential adaptation of the velocity trajectory profile and these two controllers show that this control scheme has excellent control performance as compared with that of the uncontrolled crane system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2010년도 춘계학술대회 논문집
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• pp.674-675
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• 2010

• 자연, 터널 그리고 지하공간
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• 제23권4호
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• pp.38-48
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• 2021

최근 국내 건설현장들은 도심지 근접구간에서 발파진동피해를 최소화하기 위하여 전자뇌관을 이용한 미진동 전자발파공법 적용사례가 증가하고 있는 추세이다. 그러나 미진동 전자발파는 무진동 암파쇄 대체공법으로 경제성은 우수하나 시공현장에서 진동을 제어하는 공법으로 1회 굴진장을 1m 이하로 적용하고 있어 시공속도가 저하되는 문제점이 발생하고 있다. 따라서, 미진동 전자발파 수준의 진동제어와 굴착비 절감 및 시공속도를 높일 수 있는 더블데크 발파공법을 연구 및 시험을 수행하였다. 미진동 전자발파와 더블데크 전자발파 비교 시험결과 진동레벨, 발파효율, 파쇄입도, 여굴량 등이 비슷한 수준으로 평가되어 현장 적용시 굴진장 증대로 인한 공사기간 단축 및 시공비 절감이 가능할 것으로 판단되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.260-265
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• 1989

The micro-computer based automatic control of the overhead crane system is designed. Two control methodologies were suggested; the one is the anti-swing controller which improves poor damping characteristics of the crane and the other is the stop-position controller which minimizes the transportation position error. The input speed profile is automatically determined by the pre-programmed digital control algorithm. The experimental results show that these proposed controllers have excellent control performance as compared with those of the uncontrolled crane system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.292-297
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• 1990

An anti-swing controller for an overhead crane in the stop position is designed. The developed anti-swing controller improves on the poor damping characteristics of overhead crane by feeding back the crane acceleration as a function of swing angular speed. The experimental results show that this crane using the proposed controller yields small stop position error and rapid damping response characteristics.

• 대한기계학회논문집
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• 제19권6호
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• pp.1391-1401
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• 1995

This paper addresses design procedure and testing results of a closed-loop motion control of the cranes. When the object is stopped at the desired position, swinging occurs, and such swinging deteriorates the safety and efficiency of the operation of the crane. Therefore, in this paper, the cascade anti-swing and trolley position feedback controller are designed. Anti-swing controller rapidly eliminates swinging of object and position feedback controller reduces the trolley position error. The performance of this controller is investigated through the computer simulation and experiment. From the results of a series of computer simulations and experiments it can be concluded that proposed controller effectively reduces swinging of the object and trolley position error, which shows this controller can be used as an effective tool for the precise control of overhead cranes.