• Title/Summary/Keyword: Crane design

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Design of the Anti-sway Controller for a Boom Type Crane Using the LQ Control (LQ 제어를 이용한 붐형 크레인의 흔들림 제어기 설계)

  • Son, J.K.;Hong, J.P.;Kwon, S.J.
    • Journal of Power System Engineering
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    • v.7 no.4
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    • pp.74-81
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    • 2003
  • An LQ controller design method is proposed for effective anti-sway control of boom type crane in this paper. It is important for high productivity that the sway of a load is controlled as fast as possible when the trolley arrives to the destination with maximum velocity. To prove the effectiveness of the proposed LQ controller. simulations and experiments using the boom type crane as experimental device is carried out. Tracking performance for a step type reference and robustness for the change of working environment such as the change of load weight and parameters produced by a wire rope and disturbance by the wind arc proved by the experiment. It will be examined that boom type crane can be applied to industrial fields through experiment in this paper.

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Position Control of Nonlinear Crane Systems using Dynamic Neural Network (동적 신경회로망을 이용한 비선형 크레인 시스템의 위치제어)

  • Han, Seong-Hun;Cho, Hyun-Cheol;Lee, Kwon-Soon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.56 no.5
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    • pp.966-972
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    • 2007
  • This paper presents position control of nonlinear three-dimensional crane systems using neural network approach. Such crane system generally includes very complicated characteristic dynamics and mechanical framework such that its mathematical model is expressed by strong nonlinearity. This leads difficulty in control design for the systems. We linearize the nonlinear system model to construct PID control applying well-known linear control theory and then neural network is utilized to compensate system perturbation due to linearization. Thus, control input of the crane system is composed of nominal PID and neural output signals respectively. Our method illustrates simple design procedure, but system perturbation and modelling error are overcome through a neural compensator. As well. adaptive neural control is constructed from online learning. Computer simulation demonstrates our control approach is superior to the classic control systems.

A Study on design of Optimal Controller for container Crane (컨테이너크레인 제어를 위한 최적제어기 설계에 관한 연구)

  • 이영진;조현철;이진우;이권순
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1998.10a
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    • pp.397-402
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    • 1998
  • PID controller has been used very widely in the industrial applications. But it is difficult tune the PID gains. In this paper, we present a design of optimal 2-DOF PID controller for control of container crane which has to control swing motion and trolley position. For tuning of the 2-DOF PID control gains, we used hybrid evolution program(EP). During operate the crane system in yard, the goal 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 accuracy and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.

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Anti-sway and 3D position Control of the Nonlinear Crane System using Fuzzy Algorithm (퍼지 알고리즘을 이용한 비선형 크레인 시스템의 진동방지 및 3차원 위치제어)

  • Lee, Tae-Young;Lee, Sang-Ryong
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.8
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    • pp.193-202
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    • 1999
  • Crane operation for transporting heavy loads causes swinging motion at the loads due to crane's acceleration and deceleration. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. So, this swing of the objects is a serious problem and the goal of crane system is transporting to a goal position as soon as possible without the oscillation of the rope. 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 whose girder, trolley and hoister move simultaneously is derived. and the Fuzzy logic controller based on the expert experiments during acceleration, constant velocity, deceleration and stop position period is proposed to supress the swing motion and control the position of the crane. The performance of the fuzzy controller for the nonlinear crane model is simulated on the personal computer.

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Anti-sway and Position 3D Control of the Nonlinear Crane System using Fuzzy Algorithm

  • Lee, Tae-Young;Lee, Sang-Ryong
    • International Journal of Precision Engineering and Manufacturing
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    • v.3 no.1
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    • pp.66-75
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    • 2002
  • The crane operation used fur transporting heavy loads causes a swinging motion with the loads due to the crane\`s acceleration and deceleration. This sway causes the suspension ropes to leave their grooves and can cause serious damage. Ideally, the purpose of a crane system is to transport loads to a goal position as soon as possible without any oscillation of the rope. Currently, cranes are generally operated based on expert knowledge alone, accordingly, the development of a satisfactory control method that can efficiently suppress object sway during transport is essential. The dynamic behavior of a crane shows nonlinear characteristics. When the length of the rope is changed, a crane becomes a time-varying system thus the design of an anti-sway controller is very difficult. In this paper, a nonlinear dynamic model is derived for an industrial overhead crane whose girder, trolley, and hoister move simultaneously. Furthermore, a fuzzy logic controller, based on expert experiments during acceleration, constant velocity, deceleration, and stop position periods is proposed to suppress the swing motion and control the position of the crane. Computer simulation is then used to test the performance of the fuzzy controller with the nonlinear crane model.

Safety Verification of Gantry Cranes using Hydraulic Cylinders (유압실린더를 사용한 갠트리 크레인의 안전성 검증)

  • Ko, Seong-Hoon;Lee, Kwang-Hee;Lee, Chul-Hee
    • Journal of Drive and Control
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    • v.16 no.2
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    • pp.8-14
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    • 2019
  • A typical gantry crane is generally used to lift and transport objects in various workplaces. Most of the supporting structures in a gantry crane are fixed on the ground while the moving hoist is running overhead along the girder. There are some disadvantages to its long installation time and high installation cost. Therefore, a hydraulic based gantry crane was studied to solve the issues of typical gantry cranes. The supporting structure of the proposed gantry crane consisted of a hydraulic cylinder and telescopic boom. The dimension of the proposed gantry crane can be decreased due to its simplified structure. The analytical and theoretical methods were used to verify the structural stability of the proposed crane. The most severe load condition was considered for the analysis, and the stress and deflection of the structure are analyzed. The simulation results were as expected from the theoretical analysis. Finally, the structural and dynamic safety of the proposed hydraulic based gantry crane was validated. The obtained results can be used as guidelines in the design process of the hydraulic based gantry crane.

A Comparison of the Wind Resistance Characteristic of a Container Crane According to the Increase to the Lifting Capacity (권상용량 증가에 따른 컨테이너 크레인의 내풍특성 비교)

  • Lee, Seong-Wook;Kim, Hyung-Hoon;Han, Dong-Seop;Han, Geun-Jo;Kim, Tae-Hyung
    • Proceedings of the KSME Conference
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    • 2007.05a
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    • pp.204-209
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    • 2007
  • This study was carried out to analyze the effect of wind load on the structural stability of a container crane according to the increase of the lifting capacity using wind tunnel test and provided a container crane designer with data which can be used in a wind resistance design of a container crane assuming that a wind load at 75m/s wind velocity is applied on a container crane. Data acquisition conditions for this experiment were established in accordance with the similarity. The scale of a container crane dimension, wind velocity and time were chosen as 1/200, 1/13.3 and 1/15. And this experiment was implemented in an Eiffel type atmospheric boundary-layer wind tunnel with $11.52m^{2}$ cross-section area. Each directional drag and overturning moment coefficients were investigated.

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Vibration reduction of provision crane in a ship by structural dynamic modification (구조변경을 통한 선박용 Provision Crane의 진동저감)

  • 김극수;조성재;최수현
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2004.05a
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    • pp.433-437
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    • 2004
  • A provision crane is generally installed on the upper deck to the rear of the accommodation of the ship in order to load and unload engine part or something heavy. There are two types of provision cranes: one is jib-type and the other is monorail-type. So the natural frequency of the jib-type crane equipment is low, therefore, there are some possibility of resonance between crane structure and the main excitation sources of the ship in normal operating range. This study describe a vibration reduction technique for provision crane by applying a proper countermeasure through finite element analysis and modal test. In order to find out weak point in design of provision crane, a sensitive analysis has been performed.

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On the Fatigue Analysis of Large Crane Pedestal in Drillship (드릴십의 대형 크레인 페데스털의 피로해석에 관한 연구)

  • Lee, Jeong-Hoon;Lee, Joo-Sung
    • Journal of the Society of Naval Architects of Korea
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    • v.48 no.4
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    • pp.342-345
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    • 2011
  • Drillship has several large cranes to handle the various equipments for drilling work. These cranes are supported by crane pedestals which are installed on main deck. Two major loads, i.e., hull girder bending moment and crane operation loading shall be considered to confirm the structural strength in way of crane pedestal. In this paper, the fatigue analysis is performed for the structures in way of crane pedestal considering two(2) loads as mentioned in the above is introduced.

An Optimal Control of Container Crane Using Evolution Strategy (진화전략을 이용한 컨테이너 크레인의 최적제어에 관한 연구)

  • 이영진;이권순
    • Journal of Korean Port Research
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    • v.12 no.2
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    • pp.217-224
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    • 1998
  • During the operation of crane system in container yard, the objective is to transport the load to a goal position as quick as possible without rope oscillation. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, we present a design of optima 2-DOF PID controller for the control of gantry crane which has to control swing motion and trolley position. We used evolution strategy(ES) to tune the parameters of 2-DOF PID controller. It was compared with general PID controller. The computer simulations show that the proposed method has better performances than the other method.

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