• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.428-431
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• 2002

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. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. ropes. The control strategy with 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 main schemes are introduced and explained briefly.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.446-449
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• 1997

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 arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons 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.

• 전기학회논문지
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• 제56권5호
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• pp.958-965
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• 2007

The spreaders on container cranes are usually controlled to stop at the same time as their trolleys are stopped. Despite the use of adequate control systems, however, the spreaders usually have comparatively large sway movements, due to their suspension from the trolleys through cables. It is, therefore, important to accurately measure the attitudes of the spreaders, in order to suppress such sways by means of secondary control. Until now, most of conventional anti sway control systems focus on the direct control of the movements of trolleys. which seems not suitable to speed up the entire process - loading and unloading of containers. In this paper, we suggest a new anti sway control system: By using extra equipments - two propellers to suppress the sway and a PSD camera to measure the spreader's attitude - installed on the spreader and the trolley. the sway of the suspended load j, considerably suppressed. The effectiveness of the proposed scheme is verified by the computer simulation and experiment with the miniature of the container crane system.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 춘계학술대회논문집
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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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.

• 동력기계공학회지
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• 제2권1호
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• pp.73-79
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• 1998

In practical fields, the sway of crane systems leads to extra stress to the crane structure during the transporting operation and it is in close connection with its life. Usually, when we operate the cranes with high speed and manual control, the sway motion is irreducible. In this paper, a new type of crane system is proposed to avoid the irreducible sway of the crane systems. The proposed system is composed of mechanical arm with function of anti-sway based on conventional line system. By the anti-sway arm, we can realize to prevent the sway of the container box but cannot avoid the oscillation for the overall body of the crane. So, a controller design method to solve the above stated problem must be considered. The problem is solved by adopting the velocity pattern control methods of trapezoidal and curve types and its effectiveness is proved through experimental results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.559-562
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• 1995

In the crane control system, it is reguired that the travelling time of the crane must be reduced as much as possible and the swing must be stoped at the end point. In paper, we present a hybrid control method which include the optimal regulator and velocity pattern controller in order to make high performance of the anti-sway. To implement the control algorithm, the dynamic equation is linearlized at an equilibrium point, so that the liner time invariant state equation can be obtained. In order to experiment the crane control, we consider 1 over 10 of the gantry crane which is used in a port. As a result, the hybrid control method improve efficient anti-sway control more than conventional velocity pattern control. It is expected that the proposed system will make an important contribution to the industrial fields.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2002년도 춘계학술대회논문집
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• pp.219-227
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• 2002

In this paper, we designed neural network predictive PID controller to control sway happened in transfer of trolley for automatic travel control system. We include dynamic character of nonlinear system, and mathematical expression veny simple used neural network. When various establishment location and surrounding disturbance were approved based on mathematical modelling of crane, controller designed to become effective control location error and vibration angle of two control variables that simultaneously can predictive control. Neural network predictive PID controller produced parameter of PID controller using neural network self-tuner. Neural network self-tuner's input used crane's output and neural network predictive output. Neural network self-tuner using error back propagation algorithm. We analyzed control performance comparison through computer simulation when applied disturbance about sway of location and angle in transfer of crane. The results show that the proposed neural network predictive PID controller has better performances than general PID controller, neural network PID controller.

• 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.

• 한국지능시스템학회논문지
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• 제17권5호
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• pp.582-590
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• 2007

천정주행 크레인의 고속 권상작업 및 흔들림 억제 궤적추종을 위한 비선형 적응제어 방법을 제시한다. 천정주행 크레인의 흔들림 운동은 트롤리의 가속도. 권상로프의 길이 및 권상속도와 강하게 결합되어 있다. 이는 비간섭 제어 기반의 흔들림 억제 궤적추종 제어법칙을 설계하는데 있어 장애요인으로 작용한다. 이러한 문제를 해결하기 위해, 트롤리의 가속도와 권상속도의 영향을 최소화하는 방법으로 불확실성이 존재하는 경우에도 흔들림 운동의 궁극적 균일 유계성을 보장하는 퍼지 비선형 적응형 흔들림 억제 궤적추종제어법칙을 제안한다. 특히, 제안한 방법은 파라미터 변화. 외란 등을 포함한 시스템 불확실성을 퍼지 불확실성 관측기를 이용하여 보상한다. 따라서, 퍼지관측기의 근사화 오차가 영으로 수렴할 때 추종오차 및 흔들림 각도의 궁극적 한계치는 영으로 감소한다. 끝으로 제안한 방법의 성능검증을 위한 모의실험 견과를 제시한다.