• 한국해양공학회지
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• 제14권4호
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• pp.35-42
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• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.446-449
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• 1997

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.428-431
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• 2002

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. ropes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And main schemes are introduced and explained briefly.

• 한국정밀공학회지
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• 제18권7호
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• pp.53-64
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• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. 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, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.526-529
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• 2002

The development of automated container terminal has been a hot issue for recent years. It's very natural because it's very important how many containers, how soon, and how precisely a container terminal can treat. A crane treats a very heavy container, maybe, no less than 20∼40 tons, thus most cranes use ropes to take up and land containers. But rope causes the sway of a container and this phenomenon is not avoided. On the ground of this, in most case how much skillful a driver is may affect the productivity of a yard or quay crane. Thus many researches have been concentrated on the development of the control algorithm for a crane which may be useful and robust enough to drive a crane without any human driver. Authors of this paper also are interested in this kind of research but we have been much more interested for years in the development of a mechanical structure which may cause much less sway than the existing cranes do. In this paper, we may introduce the basic structure of the developed anti-sway system.

• 인지과학
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• 제10권3호
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• pp.29-37
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• 1999

Murakami와 Cavanagh (1998a.b. 1999)가 보고한 무선 운동 영역 순응에 따른 정지된 인접 영역의 흔들림(jittering) 착시현상을 새로운 자극구성으로 검증하였다. 이 현상에 대한 설명으로 이 연구자들이 제안한 순응에 따른 안구운동 보상기제의 약화를 최소화하는 역 위상 깜박임(counterphase flickering)에의 순응과 코사인 패턴을 사용하였을 때에도 정지된 인접 영역에서의 착시현상이 경험되었다. 그러나, 이 자극 상황에서 관찰된 착시현상은 평면상의 흔들림이 아니라 정지된 인접 영역이 관찰자에서 멀어지는 것으로 지각되는 3차원상의 운동잔여효과(3D motion aftereffect)이었다. 본 연구에서 우리는 이 새로운 현상이 깜박임 영역의 휘도 대비감소(contrast reduction)가 정지된 인접 영역과의 지각된 깊이 차이를 유발시키고 깜박임 영역이 정지하였을 때 원래의 깊이로 복원하는 과정에서 정지된 인접 영역이 상대적으로 멀어지며 움직이는 것으로 지각되는 것에 기인했을 가능성을 조사하였다. 깊이 단서를 제거하거나, 휘도 대비감소를 최소화하는 고 공간주파수 코사인 패턴을 사용한 실험의 결과 관찰된 운동잔여효과의 소멸은 이 가능성을 강력히 지지하여 주었다.