• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 제36회 하계학술대회 논문집 B
• /
• pp.1465-1467
• /
• 2005

In this paper, the harbor container crane which transports containers between a container ship and trucks in the harbor is modeled. The equation of motion is simplified for control purpose. The pole placement technique is used to control the crane to minimize load swing angle The objective of the control is to transfer the load as quickly as possible, while minimizing the amplitude of swing at the end of transfer. Computer simulations are provided.

• 한국해양공학회지
• /
• 제19권3호
• /
• pp.66-73
• /
• 2005

The sway motion control problem of a container hanging on the trolley is considered in this paper. In the container crane control problem, the main issue involves suppressing the residual swing motion of the container at the end of acceleration, during deceleration, or for an unexpected disturbance input. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system, in which a small auxiliary mass is installed on the spreader. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. In many cases, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called "Structure/Control Simultaneous Method" is used. From this, in this paper the simultaneous design method is used to achieve optimal system performance. And the experimental result shows that the proposed control strategy is useful, to the case of that the controlled system is exposed to the uncertainties and, robust to disturbances like wind.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 춘계학술대회 논문집
• /
• pp.739-742
• /
• 1997

A remote drum grappling device coupled to the anti-swing crane has been developed by KAERI to cope with problems involved in manually treating low level waste drums. In order for this grappling device to be operated effectively, multi-sensors including CCD camera were employed. As an activity representation scheme of the device, Extended State Machine (ESM) was used to descibe its operation sequences. The performance testing of the device was conducted successfully, and consequently its application could be extendable to industrial operation environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.260-265
• /
• 1989

The micro-computer based automatic control of the overhead crane system is designed. Two control methodologies were suggested; the one is the anti-swing controller which improves poor damping characteristics of the crane and the other is the stop-position controller which minimizes the transportation position error. The input speed profile is automatically determined by the pre-programmed digital control algorithm. The experimental results show that these proposed controllers have excellent control performance as compared with those of the uncontrolled crane system.

• Journal of Advanced Marine Engineering and Technology
• /
• 제18권2호
• /
• pp.83-90
• /
• 1994

The container crane is still operated by skillfull human operators. So an automatic crane operation system is strongly required. In this paper, the digital control method is applied to position an anti-swing control for container crane. Two methods of digital optimal regulator control and digital redesign control are used for experiment. From these experimental results, it is respected that both methods can be applied effectively to an actual container crane operation.

• 한국정보보호학회:학술대회논문집
• /
• 한국정보보호학회 2003년도 동계학술대회
• /
• pp.660-664
• /
• 2003

본 논문에서는 현재 공개되어 있는 ClamAV 안티바이러스 엔진의 소스를 분석하여 플랫폼 독립적인 구현을 시도했다. 구체적으로 유닉스 기반에서 Java 프로그래밍 언어를 사용했으며, 사용자의 편의를 위한 GUI 환경을 SWING을 사용하여 구축했다 아울러 공개된 안티바이러스 엔진보다 효율성을 높이기 위하여 효율적인 매칭 알고리즘 선택 및 바이러스 패턴 데이터베이스의 재구성에 관하여 제안한다.

• 동력기계공학회지
• /
• 제2권1호
• /
• pp.67-72
• /
• 1998

In crane control system, it is required that the travelling time of crane must be reduced as much as possible and there is no the swing of load at the end and starting points. In this paper, we present a hybrid control method which includes two control methods of the optimal regulator and the velocity pattern control in order to realize high performance of the anti-sway. To implement the control algorithm, the dynamic equation is linearlized at an equilibrium point, so that the linear time invariant state equation can be obtained. A 1/10 sized model crane of the usual gantry cranes is made and used to show the applicability of the developed hybrid control method. The effectiveness of developed hybrid control method is proved by experimental results which show us good performance for anti-sway control comparing to conventional velocity pattern control. Practically, it is expected that the proposed control system will make an important contribution to the automatic crane control system of the industrial fields.

• 한국안전학회지
• /
• 제12권3호
• /
• pp.23-29
• /
• 1997

In the control of crane system, the traversing time of the trolley must be reduced as much as possible and the swing must be stopped at the end point. To design the minimum time control system, Pontryagim maximum principle is applied. In order to implement the control algorithm, the dynamic equation is linearlized at an equilibrium point, so that the linear time invariant state equation can be obtained. The overall performance of the closed loop system is evaluated by means of computer simulations and practical experiments in a broad range of working conditions. The effectiveness is proved through the experimental results for the anti-sway control of the load and the position control of trolly. It is expected that the proposed system will make an important contribution to the industrial fields.

• 한국산업융합학회 논문집
• /
• 제2권2호
• /
• pp.165-172
• /
• 1999

Crane operation for transporting heavy loads causes swinging motion at the loads. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane is derived. and the feedback gain matrix based on the pole-placement method is proposed to supress the swing motion and control the position of the crane. The performance of the controller for the crane model is simulated on the personal computer.

• 한국항해항만학회지
• /
• 제29권8호
• /
• pp.747-753
• /
• 2005

본 논문은 컨테이너크레인의 흔들림제어의 한 방법으로, 이송증인 컨테이너가 임의의 이송궤적을 따라서 움직이도록 하고, 또한 트롤리 및 호이스트의 위치제어를 동시에 수행하는 가변구조제어에 관한 연구이다. 자동화터미널의 야석장에서 A지점에서 B지점으로 컨테이너를 옮기고자 할 때, 쌓여 있는 주위의 다른 컨테이너들을 피하면서 이송시키거나, 혹은 양하역 작업을 장애물이 존재하는 환경에서 수행할 때 주변의 장애물과 충돌하지 않도록 이송궤적을 만들어야 함은 필수적이다. 기존치 연구들이 무조건 흔들림이 작게끔 하는 것에 초점을 맞추었던 것에 반하여 본 논문에서는 비롯 흔들림이 발생하더라도 주어진 궤적을 추종하여 이송되게끔 하는 것에 그 특징이 있다. 트롤리 및 호이스트의 위치 및 속도오차 뿐 아니라 흔들림 각변위 및 각속도오차가 슬라이딩 평면으로 정의되며, 등속구간과 도착구간에서의 제어기가 각각 별도로 설계된다. 리아프노프 방법을 이용하여 안정성을 해석하였으며 파일럿 크레인을 이용한 실험결과를 제시한다.