• 한국정밀공학회지
• /
• 제16권7호
• /
• pp.144-150
• /
• 1999

n active control for the swing of crane systems is very important for increasing the productivity. This article introduces the control for the position and the swing of a crane using the fuzzy learning method. Because the crane is a multi-variable system, learning is done to control both position and swing of the crane. Also the fuzzy control rules are separately acquired with the loading and unloading situation of the crane for more accurate control. The result of simulations shows that the crane is just controlled for a very large swing angle of 1 radian within nearly one cycle.

• 한국산업융합학회 논문집
• /
• 제2권1호
• /
• pp.61-67
• /
• 1999

An active control for the swing of crane systems is very important for increasing the productivity. This article introduces the control for the position and the swing of a crane using the fuzzy learning method. Because the crane is a multi-variable system, learning is done to control both position and swing of the crane. Also the fuzzy control rules are separately acquired with the loading and unloading situation of the crane for more accurate control. And We designed controller by fuzzy learning method, and then compare fuzzy learning method with LQR. The result of simulations shows that the crane is controlled better than LQR for a very large swing angle of 1 radian within nearly one cycle.

• 한국기계가공학회지
• /
• 제11권2호
• /
• pp.85-91
• /
• 2012

Offshore Bridge Crane and Hoist which are used FPSO Ships that can move through self - power and have oil production, store and loading and unloading facilities are increasing demand. These equipments must use Crane safely by pitch and rolling of the high wave. For this, they have to be equipped with high durability and safety. So the advanced shipbuilding industries use a private design system which can be prompt in design and analyze in the first stage. For this study, It was developed a basic design system for "Bridge Crane and Hoist" used on FPSO ships. By developing this automated system for "Bridge Crane and Hoist" design, we will be able to make the design data easy to understand. This basic design system will help reduce the amount of working time it takes to design new systems, construct design databases and get approval for the finished design.

• 대한조선학회논문집
• /
• 제48권2호
• /
• pp.165-170
• /
• 2011

In this paper, wind force coefficient by wind tunnel experiment is obtained to compute the accurate wind force of the gantry crane model to be used for mobile harbor ship. The first crane model was tested under 20, 30, 40, 52m/s, partially 58m/s and the wind force coefficient is about 2.0 which is very close to the suggested theoretical value. The other is the more reliable crane model and tested under 20, 30, 40m/s also giving the similar realistic wind force coefficient. Also structural analysis of crane model was performed giving the reliable stress level. Since the rolling effect is important for mobile harbor ship, the safety of the crane on the ship needs to be guaranteed. For this, using the computed reaction forces, a tie-down design is suggested which connects the crane and ship to resist the turnover motion of the crane.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.103.3-103
• /
• 2002

1. Introduction 2. Dynamic Model of Stacking Crane 3. The Path Plan of Stacking Crane 4. Design of Neural Network Predictive PID Controller 5. Result of Computer Simulation and Investigation 5. Conclusion

• 제어로봇시스템학회논문지
• /
• 제16권12호
• /
• pp.1212-1219
• /
• 2010

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

• 제어로봇시스템학회논문지
• /
• 제13권1호
• /
• pp.26-32
• /
• 2007

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. In this paper, the system modelling and a tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.

• 한국항해항만학회지
• /
• 제29권6호
• /
• pp.555-560
• /
• 2005

전체 시스템을 최적상태로 유지하기 위한 정보공유의 필연성 등으로 대다수의 제어 시스템이 디지털 제어 시스템으로 대체되고 있다. 이러한 디지털 제어 시스템이 원활하게 운영되기 위해서는 전통적인 점대점 연결방식이 아닌 네트워크를 기반으로 한 시스템이 필수적이며, 이러한 산업용 네트워크를 지능형 항만 물류 시스템에 적용하기 위할 연구가 최근 다양하게 이루어지고 있다. 본 논문에서는 NMEA 2000의 기반이 되는 CAN 프로토콜을 이용한 크레인 시스템의 타당성을 검증하기 위하여 단순화된 네트워크 기반 제어 시스템을 구현하였다.

• 한국공작기계학회논문집
• /
• 제15권5호
• /
• pp.29-36
• /
• 2006

The hydraulic excavators are mainly applied for excavating, public works, quarrying, etc. In some of the construction site, however, they are used for crane works of relatively light materials, although the crane works by the hydraulic excavators are forbidden by law due to the safety reasons. The major construction equipment companies in forward countries have been developing the new systems, e.g. crane works by the hydraulic excavators, and they are working in the construction site. Therefore, the new system of crane works by the hydraulic excavators should be developed for the domestic construction site in order to prevent the accident. In this paper, the fundamental study and experiment are accomplished for the crane system application on the hydraulic excavators.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.336-336
• /
• 2000

This paper studied on the yaw motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But if the gantry crane is unmanned, it is automatically controlled without any human operation. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.