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

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1404-1409
• /
• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

• 한국정밀공학회지
• /
• 제11권5호
• /
• pp.143-152
• /
• 1994

The velocity trajectory profile of trolley is designed to minimize both swinging while transportation of load and the stop position error at the final stop position. This profile is designed to be automatically programmed by the digital control algorithm when the length of chain and the desired travel distance are given as a priori. Also, to minimize both swinging and the stop position error the anti-swing controller which improves poor damping characteristics of the crane and the stop position controller are employed. The experimentalresults of sequential adaptation of the velocity trajectory profile and these two controllers show that this control scheme has excellent control performance as compared with that of the uncontrolled crane system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.277-281
• /
• 1996

The roof crane system is used for transporting a variable load to a target position. At this time, the goal of crane system is transporting to a goal position as soon as possible with no rope oscillation. Generally crane is operated by expert's knowledge, but recently automatic control with high speed and rapid transportation is required. In this thesis we developed fuzzy controller of crane which has simplified expert's knowledge base for anti-swing and rapid tansportation to goal position.

• Journal of Mechanical Science and Technology
• /
• 제18권8호
• /
• pp.1306-1311
• /
• 2004

We suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, as the basic and first step, we apply the $H_{\infty}$ control approach to anti-sway control system design problem. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance through simulation and experimental studies.

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

• 제어로봇시스템학회논문지
• /
• 제3권5호
• /
• pp.435-442
• /
• 1997

The roof crane system is used for transporting a variable load to a target position. The goal of crane control system is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid tansportation is required. In this paper, we developed a simple fuzzy controller which has been introduced expert's knowledge base for anti-swing and rapid tranportation to goal position. In particular, we proposed the synthesis reasoning method which synthesizes on the basis of expert knowledge of the angle control input and position control input which are inferenced parallel and simultaneously. And we confirmed that the performance of the developed controller is effective as a result of applying it to crane simulator and also verified whether the proposed synthesis rules have been applied correctly using clustering algorithm from the measured data.

• 조명전기설비학회논문지
• /
• 제17권2호
• /
• pp.49-57
• /
• 2003

천정크레인 설비의 자동화에 사용될 수 있는 반진동 제어알고리즘을 제안하였다. 제안하는 제어알고리즘은 1) 복잡한 비선형계통 제어에 유용한 것으로 알려진 보상 FLC를 갖는 FCL, 2) 화물의 진동을 적게 하도록 가속도, 속도, 위치 기준 궤적을 발생하는 기준패턴발생기, 3) 속도, 위치 오차를 궤환하는 가속도 궤환제어기로 구성된다. 특히, 제안한 알고리즘은 화물의 진동각 정보를 제어에 활용하지 않으므로 고가의 진동각 센서가 필요 없다는 특징을 갖는다. 시뮬레이션에 의한 연구와 모형 크레인에 대한 실험 연구에 의해 제안하는 알고리즘의 유용성을 보인다.

• 전기학회논문지
• /
• 제62권3호
• /
• pp.407-413
• /
• 2013

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

• 대한기계학회논문집A
• /
• 제21권6호
• /
• pp.907-917
• /
• 1997

The purpose of this study is to design an anti-sway motion for industrial overhead cranes which transport objects on a horizontal plane by adjusting movements of a trolley motor and a girder motor. The movement of a hoist motor has not been considered at this time since its role was assumed to move objects only vertically, therefore, not to affect the swing motion of objects. The dynamic behavior of the swing motion shows nonlinear characteristics, which makes the design of anti-sway motion controller difficult. First of all, the nonlinear state equation for the motion of industrial overhead cranes has been derived. Then they have been linearized about normal operating states determined by the dynamic characteristics of motor motion-acceleration, constant speed, and deceleration, and deceleration, during transportation. The partial state feedback control algorithm based on this linearized state equation has been developed on order to suppress the swing motion. The simulation results have demonstrated satisfactory performance of the proposed controller.