• 제어로봇시스템학회논문지
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• 제6권11호
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• pp.1022-1032
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• 2000

We propose a sliding mode controller tracking the states of a time-varying reference model. The reference model generates the desired trajectories of the states, and the sliding mode controller regulates robustly the errors between the desired states and the measured states. We apply this controller to the overhead crane. Its reference model generates the trajectories of the damped-out swing angle and the swing angular velocity to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. Also, this model generates the desired trajectories of the position and velocity of the crane. The crane model is identified from the experimental data using an orthogonal function. Kalman filtering is applied to estimate the crane states. The designed controller is simulated on a computer and is tested through a 2-ton industrial overhead crane using the vector-controlled servo motor system. It is verified that, from the simulated and experimental results, the sliding mode controller tracking a time-varying reference model works well.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.452-461
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• 2007

Adaptive anti-sway and trajectory tracking control of overhead crane is presented, which utilizes Fuzzy Uncertainty Observer(FUO) and Fuzzy based Variable Structure Control(FVSC). We consider an overhead crane system which can be decoupled into the actuated and unactuated subsystems with its own lumped uncertainty such as parameter uncertainties and external disturbance. First, a new method for anti-sway control using FVSC is proposed to improve the conventional method based on Lyapunov direct method, while a conventional trajectory tracking control law using feedback linearization is directly adopted. Second, FUO is designed to estimate one of the two lumped uncertainties which can compensate both of them, based on the fact that two lumped uncertainties are coupled with each other. Then, an adaptive anti-sway control is proposed by incorporating the proposed FVSC and FUO. Under the condition that the observation error is Uniformly Ultimately Bounded(UUB) within an arbitrarily shrinkable region, the overall closed-loop system is shown to be Globally Uniformly Ultimately Bounded(GUUB). In addition, the Global Asymptotic Stability(GAS) of it is shown under the vanishing disturbance assumption. Finally, the effectiveness of the proposed scheme has been confirmed by numerical simulations.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1991년도 가을 학술발표회 논문집
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• pp.111-114
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• 1991

The KMRR 4-wheel crane which has a span of 30.6m long shall be designed to maintain its structural integrity during and after seismic shocks. Horizontal and vertical FRS for OBE and SSE conditions at the crane support are after seismic shock. Horizontal and vertical FRS for analysis are 4% for OBE and 7% for SSE. The crane consists of girder, saddle main and auxiliary trolley, and necessaries. They are modeled as beam elements and lumped masses for the following 4 cases ; trolley at center of the crane with and without the rated load, trolley at end with and without the rated load. The static analysis as well as the linear dynamic analysis including frequency and response spectrum analysis are performed for the seismic qualification of the crane using the Finite Element Method. For the simplicity of the analysis, the decoupling criteria are considered for the crane rope and the crane supporting beams. The main sections of the crane are stiffened until the calculated stresses satisfy the allowable limits. The seismic resultant loads are used to design the seismic restraints of the saddle and the trolley to protect the clue from the seismic uplifting loads the study results have show that the seismic design of the KMRR crane is governed by the OBE condition. not by the SSE condition. This paper briefly describes the analysis procedure used in the seismic design of the KMRR crane, and summarizes the analysis results.

• 한국시뮬레이션학회논문지
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• 제20권2호
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• pp.49-57
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• 2011

치열한 경쟁과 원자재 가격 급등은 시행착오를 최소화 하면서 제철소를 최적으로 설계하여 운영할 것을 한층 더 강력하게 요구하고 있다. 컴퓨터 시뮬레이션은 이 요구에 부합되는 방법론을 제공할 수 있다. 본 논문의 목적은 제강 연주 공장의 설계와 운영을 지원하기 위한 시뮬레이터를 제안하는 것이다. 본 연구에서 제안하는 시뮬레이터는 유지보수와 확장에 용이하도록 널리 알려진 Arena로 개발되었으며 사용의 편의성을 위하여 엑셀 기반으로 입출력 인터페이스를 설계하였다. 또한 운반 대차와 천정 크레인으로 구성되는 복잡한 운반 모듈을 포함하여 모델의 정확도를 높였다. 시뮬레이터는 생산량 분석과 물류 분석을 통하여 제강 연주 공장 설계안의 적정성을 평가하는데 유용하게 사용될 수 있다. 그리고 다양한 상황별로 최적의 제품 조합을 도출하는데 적용될 수 있으며, 공정별 설비별로 작업을 배정하는 조업 운영 패턴을 평가하고 정확도를 향상시키는 도구로써 활용이 가능하다.