• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.10a
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• pp.175-180
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• 1998

In container crane system, the variation of cargo weight have effect on the travelling and sway control of load. For precise travelling and/or anti-sway control of crane system, the cargo weight should be measured and considered with control algorithm. But, and added attachment for measuring the cargo weight put restraint upon the control freedom for travelling and anti-sway. In this paper, we propose an estimation method for cargo weight in container crane system by using observation technique. First of all, we model the container crane system as a bilinear system and transform this model into linear system with external disturbance model. Second, we propose a generalized type - disturbance estimation observer and set a disturbance model, where, the cargo weight is related with the sway of load, and the sway is represented as a periodic external disturbance. Lastly, by using simulation we verify that the proposed algorithm of disturbance estimation observer is effective to estimate the cargo weight, and it will be used with anti-sway control algorithm.

• Journal of Power System Engineering
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• v.12 no.6
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• pp.29-35
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• 2008

This study is conducted to provide the proper analysis method to evaluate the stability of a container crane under wind load. Two analysis method, namely structure analysis and fluid-structure interaction, are adopted to evaluate the stability of a container crane in this investigation. To evaluate the effect of wind load on the stability of the crane, 50-ton class container crane widely used in container terminals is adopted for analysis model and 19-values are considered for wind direction as design parameter. We conduct structure analysis and fluid-structure interaction for a container crane with respect to the wind direction using ANSYS and CFX. Then we compare the uplift forces yielded from two analysis with it yielded from wind tunnel test. The results are as follows: 1) A correlation coefficient between structure analysis and wind tunnel test is lower than 0.65(as $0.29{\sim}0.57$), but between fluid-structure interaction and wind tunnel test is higher than 0.65(as $0.78{\sim}0.86$). 2) There is low correlation between structure analysis and wind tunnel test but very high correlation between fluid-structure interaction and wind tunnel test.

• Journal of Navigation and Port Research
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• v.26 no.1
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• pp.101-105
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• 2002

Many malfunction take place in container crane spreader due to impact. So we designed a 2 DOF hydraulic impact absorbing equipment to absorb the impact and we studied the change of damping coefficient with respect to the variation of dimensions of oil-Cylinder wail. When we design the dimension of hydraulic cylinder wall considering the displacement on the wall, the value of it over 20m didn't affect the damping coefficient.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.373-374
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• 2006

This study is carried out to analyze the stability of a container crane in according to the change of a wind direction and a machinery house location when a wind load of a wind velocity, 75m/s was applied on the state stowing a container crane by a heavy wind. A design wind load applied to this study was calculated in observance of 'Load Criteria of Building Structure'. And we analyzed the reactions of each supporting points according to appling a wind direction to an interval of $10^{\circ}\;in\;0^{\circ}{\sim}180^{\circ}$ and the structure stability of a container crane according to changing a machinery house. location occupying 15% of a container crane weight. From a results of this study, we presented a design criteria of an overturning disturbance equipment, tie-down.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.371-372
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• 2006

This study was carried out to analyze the effect of wind load on the structural stability of a container crane according to the change of the boom shape using wind tunnel test and provide a container crane designer with data which can be used in a wind resistance design of a container crane assuming that a wind load 75m/s wind velocity is applied in a container crane. Data acquisition conditions for this experiment were established in accordance with the similarity. The scale of a container crane dimension, wind velocity and time were chosen as 1/200, 1/13.3 and 1/15. And this experiment was implemented in an Eiffel type atmospheric boundary layer wind tunnel with $11.52m^2$ cross-section area. Each directional drag and overturning moment coefficients of a container crane according to the change of the boom shape were investigated.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.6
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• pp.878-884
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.

• Journal of Ocean Engineering and Technology
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• v.14 no.4
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.838-841
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• 2005

This study was carried out to analyze the effect of wind load on the structural stability of a 50ton articulation type container crane using wind tunnel test and provide a container crane designer with data which can be used in a wind resistance design of an articulation type container crane assuming that a wind load 75m/s wind velocity is applied in an articulation type container crane. Data acquisition conditions for this experiment were established in accordance with the similarity. The scale of an articulation type container crane dimension, wind velocity and time were chosen as 1/200, 1/13.3 and 1/15. And this experiment was implemented in an Eiffel type atmospheric boundary layer wind tunnel with $11.52m^2$ cross-section area. Each directional drag and overturning moment coefficients were investigated and uplift forces at each supporting point due to the wind load were analyzed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.3
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• pp.627-633
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• 2007

This paper describes position tracking system of a container trailer approaching to a gantry crane for loading or unloading a container into or from a ship, respectively. Proposed position tracking system informs the trailer driver of right position to stop the car under a gantry crane. To measure the location of a trailer, we used Cricket Mote modules which adopted RF and ultrasound technology. We present an elaborate method to improve position errors occurring at sensing and calculate three dimensional position by triangulation along with how to reduce location tracking interval for real-time monitoring. The location information was transmitted to a Personal Digital Assistant (PDA) periodically through Bluetooth communication for guidance of the trailer driver. In indoor and outdoor tests, position errors were less than 3 cm and location tracking interval was 0.5 second on average.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.397-402
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• 1998

PID controller has been used very widely in the industrial applications. But it is difficult tune the PID gains. In this paper, we present a design of optimal 2-DOF PID controller for control of container crane which has to control swing motion and trolley position. For tuning of the 2-DOF PID control gains, we used hybrid evolution program(EP). During operate the crane system in yard, the goal is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high accuracy and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.