• ICROS
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• v.5 no.1
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• pp.27-34
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• 1999

• Journal of Navigation and Port Research
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• v.26 no.5
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• pp.537-542
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• 2002

Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from th intial coordinate to the finial coordinate, the container paths should be built in terms of the least time and no swing. So in this paper, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the neural network predictive PID (NNPPID) controller to control the precise navigation. The proposed predictive control system is composed of the neural network predictor, PID controller, neural network self-tuner which yields parameters of PID. Analyzed crane system through simulation, and proved excellency of control performance than other conventional controllers.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.6
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• pp.759-766
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• 2003

The amount of container freight continuously has been increased. and the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. The conventional control techniques based on a mathematical model are not well suited for dealing with ill-defined and uncertain systems. Recently. Fuzzy control has been successfully applied to a wide variety of practical problems as robots. automatic train operation system. etc. In this paper. a fuzzy controller for container crane is proposed to accomplish a design of improved control system for minimizing the swing motion at destination. In this scheme a mathematical model for the system is obtained in state space form. Finally. to exhibit the tracking performance and robustness of the proposed controller. computer simulations were carried out with various references, parameter variations and disturbances.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2000.05a
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• pp.16-21
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• 2000

In this paper we design a GA-fuzzy controller for position control and anti-swing at the destination point. Applied genetic algorithm is used to complement the demerit such as the difficulty of the component selection of fuzzy controller namely scaling factor membership function and control rules. lagrange equation is used to represent the motion equation of trolley and load in order to obtain mathematical modelling. Simulation results show that the proposed control technique is superior to a conventional optimal control in destination point moving and modification.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2000.05a
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• pp.28-35
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• 2000

For the merit of a container in transportation and cargo handling the amount of container freight has been continuously on the increase. On the other hand container crane had got the bottle neck in cargo handling due to low productivity so that freight congestion had been often occurred at ports. in this paper A mathematical model for container crane system is represented a method for designing a fuzzy controller of container crane system for high productivity in cargo handling is presented. The fuzzy controller is compared with other optimal controller at the same condition. in the computer simulation the fuzzy controller obtained an excellent response to reference change better than the optimal controller. For disturbance such as a strong storm and parameter change due to change of cargo weight the result was also stable and robust than the optimal controller.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.4
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• pp.502-508
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• 2000

The amount of container freight is continuously increasing recently, but freight congestion problem frequently occurs at ports due to low efficiency of container crane in transportation and cargo handling. In this paper, a method for designing a fuzzy controller of the container crane system is presented. In this scheme a mathematical model for the system is obtained in state space representation. The response of the proposed fuzzy controller is compared with that of the optimal controller at the same condition. Through the simulation results, the performance of the fuzzy controller was observed better than that of optimal controller in respect of reference change, disturbances and parameter change. The fuzzy controller was also more stable and robust than the optimal controller.

• Journal of Ocean Engineering and Technology
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• v.19 no.5 s.66
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• pp.58-64
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• 2005

In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.04a
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• pp.280-281
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• 2010

컨테이너의 효율적인 이송은 작업 시간이 곧 비용으로 연결되는 항만에서 가장 중요한 요소이다. 따라서 1990년대 중반부터 세계항만은 RMGC(Rail-Mounted Gantry Crane), RTGC(Rubber-Tired Gantry Crane)등의 크레인이 개발되어 야드에서 컨테이너를 적재하는데 널리 이용되어 오고 있으며, 특히 최근에는 CCD카메라, 각종 센서 둥을 이용하여 트랜스퍼 크레인의 무인화를 위해 수많은 연구가 진행되었고 실용화 된 많은 기술들이 현장에서 사용되고 있으나, 여전히 많은 부분이 연구를 필요로 한다. 특히 RTGC의 경우 RMGC에 비해 무인 자동화 연구개발은 미비한 수준이다. 따라서 본 논문에서 RTGC의 무인자동화 작업을 위한 가장 기초라고 볼 수 있는 수학적 모델링을 기반으로한 고정밀도 주행제어기를 설계하고자 한다.

• Journal of Korean Port Research
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• v.12 no.2
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• pp.217-224
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• 1998

During the operation of crane system in container yard, the objective is to transport the load to a goal position as quick as possible without rope oscillation. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, we present a design of optima 2-DOF PID controller for the control of gantry crane which has to control swing motion and trolley position. We used evolution strategy(ES) to tune the parameters of 2-DOF PID controller. It was compared with general PID controller. The computer simulations show that the proposed method has better performances than the other method.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.5
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• pp.630-636
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• 1999

In this paper in optimal modulation controller for position control and anti-sway of container crane systems is designed by a recursive algorithm that determines the state weighting matrix Q of a linear quadratic performance. The optimal modulation controller is based on optimal control. The basic feature of the recursive algorithm is the reduction of the number of iterations as well as minimization of the calculations involved So in order to obtain a mathematical model which rep-resents the equation of motion of the trolley and load Lagrange equation is used. The optimal modulation controller has been verified and simulated to show that it is robust when a load dis-turbance is applied and a reference is changed.