• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.746-751
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• 2004

Demands for higher productivity in container terminal environments continues to escalate consideration of equipment upgrades. And then transportation of containers using the automated container crane becomes more and more important for productivity enhancements. Introducing a hybrid control architecture to the container crane, it provides a effective means to the automated operation of the container crane. This paper addresses the methodology for automation of container cranes. In addition, this paper proposes a new control architecture for the automated container crane and explains each component of that architecture. The control architecture is composed of a deliberative control layer, a sequencing layer, and a reactive control layer. The proposed architecture is applied to a dual-hoist double-trolley container crane.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.832-835
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• 1996

The main purpose of this study is to achieve the effective port works by using of container-crane, to disposer of many containers rapidly by using of vision sensor in order to control the swing of spreader. It is examined the possibility of automation in container-crane through a test in the field.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.04a
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• pp.64-71
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• 2000

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. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using 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 we propose the control strategy and analyse the behavior of the proposed system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.143-151
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• 2000

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. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using 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 we propose the control strategy and analyse the behavior of the proposed system.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.109-115
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with load hoisting. The proposed control law improves the positioning accuracy but also the sway suppression through fast stabilization of the under-actuated sway dynamics, which is based on a class of feedback linearizing control incorporated with an additional control including the sway angle and its rate as well as positioning errors and their rates. For the design of the additional control, a variable structure control with the proper sway damping and simple switching action is employed, thus preventing excessive overshoots of the trolley travelljng and effectively suppressing the residual sway of container arrived at the target position. Simulation results are provided to show effectiveness of the proposed controller in the presence of such uncertainties as winds and the variation of payload weights.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.151-157
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• 2004

In this paper, we propose a simple control scheme, based on second order sliding modes, which guarantees a fast and precise container transfer and the swing suppression during the container movement, despite of model uncertainties and unmodeled dynamic actuators. In the actual case, the swing suppression is obtained by constraining the system motion on a suitable surface which involves both the desired path and the swing angle. Strictly speaking, the trolley velocity is modified on-line, on the actual swing angle, to obtain the suppression of the oscillations not only at the end of the transport but during transfer as well. Such controller has been tested on a laboratory-size model of the 3Dcrane, and some experimental results are reported.

• Journal of Power System Engineering
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• v.7 no.3
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• pp.54-60
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• 2003

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is shown to be useful and robust to disturbances like winds and initial sway motion.

• Journal of Power System Engineering
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• v.8 no.1
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• pp.55-61
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• 2004

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion.

• Journal of Power System Engineering
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• v.14 no.4
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• pp.76-81
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• 2010

본 논문에서는 카메라를 이용하여 크레인 스프레더의 스큐모션을 계측하는 계측기법에 대해 고찰하고 있다. 계측장치는 트롤리에 설치한 카메라와 스프레더에 설치한 두 개의 랜드마크로 구성된다. 랜드마크를 이용하여 크레인 스프레더 흔들림과 상하위치를 검출하는 기법은 저자들이 이미 제안한 기술이며 실험을 통해 그 유용성을 검증하였다. 크레인 스프레더의 스큐모션 계측기법 또한 제안된 계측기법에 기초한 것으로 두 개의 랜드마크를 검출하여 템플릿 매칭기법으로 스큐모션을 계측할 수 있다. 스큐모션은 스프레더의 회전각도를 검출하여 계측해야 하는데 계측정도와 신뢰도는 정확한 템플릿매칭의 가능여부에 의존하게 된다. 즉, 랜드마크의 회전으로 매칭이 실패할 경우에는 정확한 회전각도를 검출할 수 없는 경우가 발생할 수 있게 된다. 따라서 본 논문에서는 랜드마크 회전에 따라 템플릿을 회전시키는 방법을 도입하여 템플릿매칭의 신뢰성과 계측정도를 개선하는 방법에 대해 연구하였다. 제안된 방법을 이용할 경우 템플릿매칭이 실패하는 경우가 없음을 실험을 통해 확인하였으며, 측정범위는 ${\pm}12^{\circ}$ 이고 이것은 크레인 스프레더의 스큐모션을 파악하고 제어하는데 충분한 정도의 범위이다.