• 대한기계학회논문집
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• 제19권6호
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• pp.1391-1401
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• 1995

This paper addresses design procedure and testing results of a closed-loop motion control of the cranes. When the object is stopped at the desired position, swinging occurs, and such swinging deteriorates the safety and efficiency of the operation of the crane. Therefore, in this paper, the cascade anti-swing and trolley position feedback controller are designed. Anti-swing controller rapidly eliminates swinging of object and position feedback controller reduces the trolley position error. The performance of this controller is investigated through the computer simulation and experiment. From the results of a series of computer simulations and experiments it can be concluded that proposed controller effectively reduces swinging of the object and trolley position error, which shows this controller can be used as an effective tool for the precise control of overhead cranes.

• 대한기계학회논문집
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• 제19권9호
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• pp.2399-2411
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• 1995

Crane operation for transporting heavy loads inherently causes swinging motion at the loads due to crane's acceleration or deceleration. This motion not only lowers the handling safety but also slows down the handling process. To complement such a problem, Korea Atomic Energy Research Institute(KAERI) has designed several anti-swing controllers using open loop and closed loop approaches. They are namely a pre-programmed feedback controller and a fuzzy controller. These controllers are implemented on a 1-ton crane system at KAERI and their control performances are compared. Test operations show that the new controllers are superior to that of conventional cranes in terms of robustness to the disturbances and adaptation capability to the change of rope length.