• Journal of Navigation and Port Research
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• v.32 no.3
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• pp.251-255
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• 2008

Container cranes are vulnerable structure about difficult weather conditions bemuse there is no shielding facility to protect them from the strong wind. This study was carried out to analyze the wind load which have an effect on container crane according to the various wind direction. The container crane is a model of a 61-ton class that used broadly in the current ports. The external fluid field was figured as a cylinder which was set up $500m{\times}200m$. In this study, we applied mean wind load conformed to 'Design Criteria of Wind Load' in 'Load Criteria of Building Structures' and an external fluid field was divided as interval of 10 degrees to analyze effect according to a wind direction In this conditions, we carried out the computation fluid dynamic analysis using the CFX-10. As we compared computation fluid dynamic analysis with wind tunnel test, we analyzed the wind load which was needed to design the container crane.

• Journal of Ocean Engineering and Technology
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• v.14 no.4
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• pp.35-42
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• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.7
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• pp.559-566
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• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall 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 gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• Journal of the Korea Society for Simulation
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• v.28 no.4
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• pp.45-56
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• 2019

Literatures have considered mathematical model that change the job order of shipper for improving the operation time of yard crane. However, on the real site, it is impossible to change the job order decided according to the shipper's arrival order. Therefore, operation managers have been utilized the relatively simple strategy that job control is better but the process time of yard crane is longer due to the growth of yard crane's interference time and empty drive time. This study proposed a new yard-crane scheduling approach that decided the job order before the shipper's truck arrived the yard terminal. We utilize the Container Pre-Information Notice estimating the arrival time of truck. We developed the container terminal simulation model for validation of the effect of proposed scheduling approach. The results show that the proposed scheduling reduced the interference delay time and empty moving time of yard crane and shipper's truck delay time.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.197-205
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• 2000

Productivity of container cranes and gantry cranes is influenced by the performance of crane hardware and cycle time. Cycle time in container handling is influenced by the path of containers and relative positioning of containers. So we have to minimize the sway of containers and spreaders to minimize relative positioning time. And sway minimization is influenced by the skill of workers in manual gantry cranes. In this paper, we will survey some anti-sway systems. Each system has some merits and some shortages. And we will show our choice and its experimental equipment which is under construction.

• IE interfaces
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• v.10 no.2
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• pp.69-77
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• 1997

Material handling equipment such as container cranes and transtainer cranes have made larger and faster to improve the efficiency of container handling. As conditions of use in container terminal have become severe, and also the automation level required has become higher. For the high level automation for transtainer crane, the following characteristics have to be developed 1) Container Terminal Operation & Planning System with high efficiency. 2)Autosteering System of transtainer crane with precise position sensing system using image processing and feedback control system. 3)Automatic Position Identification System with transponder. We have developed an AGSS(Automatic Gantry Steering System) of transtainer crane with image processing technology preferentially. In this paper, the system will be introduced.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.2
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• pp.50-56
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• 2000

This paper presents the design of an optimal state feedback controller for container cranes under some design specifications. To do this, the nonlinear equation of a container crane system is linearized and then augmented to eliminate the steady-state error, and some constraints are derived from the design specifications. Designing the controller involves a constrained optimization problem which classical gradient-based methods have difficulties in handling. Therefore, a real-coding genetic algorithm incorporating the penalty strategy is used. The responses of the proposed control system are compared with those of the unconstrained optimal control system to illustrate the efficiency.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.395-396
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.837-838
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• 2008