• Title/Summary/Keyword: Crane systems

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Constant-level luffing and time optimal control of a JIB crane (JIB크레인의 Constant-level luffing과 시간최적제어)

  • 최경배;홍금식;이만형
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.1788-1791
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    • 1997
  • In this paper constant-level luffing and time optimal control of a JIB crane is investigated. The crane is assumed to have only the derricking motion. the analysis of plance kinematics provides the relationship between the boom angle and the main hosit motor angle for constant-level luffing. The dynamic equations for the crane are very nonlimear, and therefore they are linearized for the application of the linear control theory. The time optimal control in the perspective of no-sway at the end of boom stroke is investigated.

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Position Control of Motor for Yard Crane Drive Using Lonworks network (LonWorks네트워크를 이용한 야드 크레인 구동용 전동기 위치제어)

  • 전태원;최명규;김동식;김홍근;노희철
    • The Transactions of the Korean Institute of Electrical Engineers B
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    • v.50 no.1
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    • pp.37-44
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    • 2001
  • This paper describes the position control method in yard crane drive system using Lonworks network, which is a leading industrial control network. The network is composed of host computer and three motor drive systems for both gantry and trolley position controls of both gantry and trolley are controlled with the simulator of yard crane, the size of which is about 1/10 with the real yard crane.

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Development of controller for anti-swing and position of crane (크레인의 Anti-Swing 및 위치 제어기의 개발)

  • 정승현;권판조;이달해
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.277-281
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    • 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.

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A Study for Monitoring Operator of Container Terminal (컨테이너 터미널의 모니터링 운영에 관한 연구)

  • 김영호;김정수;박병열;이성관;배종일
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.64-64
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    • 2000
  • The contributing proportion of the increase of port productivity is more increasing concerning not only the port industry, but also all the informations of container crane which is the representative equipment by the rapid increase of the volume of freight of port. The basic of rapid service is the improvement of the productivity, the information of operation as to the productivity of crane for the quick handling within yard and especially the informations of breakdown and to handle breakdown as soon as possible has a great effect on the increase of productivity.

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A Study on Tracking Control of an Industrial Overhead Crane Using Sliding Mode Controller (슬라이딩모드 제어기를 이용한 산업용 천정크레인의 추종제어에 관한 연구)

  • Park, Byung-Suk;Yoon, Ji-Sup;Kang, E-Sok
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.11
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    • pp.1022-1032
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    • 2000
  • We propose a sliding mode controller tracking the states of a time-varying reference model. The reference model generates the desired trajectories of the states, and the sliding mode controller regulates robustly the errors between the desired states and the measured states. We apply this controller to the overhead crane. Its reference model generates the trajectories of the damped-out swing angle and the swing angular velocity to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. Also, this model generates the desired trajectories of the position and velocity of the crane. The crane model is identified from the experimental data using an orthogonal function. Kalman filtering is applied to estimate the crane states. The designed controller is simulated on a computer and is tested through a 2-ton industrial overhead crane using the vector-controlled servo motor system. It is verified that, from the simulated and experimental results, the sliding mode controller tracking a time-varying reference model works well.

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Oscillation Motion Control of Gantry Crane System with Arm for Anti-Sway (Anti-sway용 암을 가진 겐트리 크레인의 흔들림저감 제어)

  • Kim, H.S.;Park, H.S.;Lee, D.H.;Park, J.H.;Kim, S.B.
    • Journal of Power System Engineering
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    • v.2 no.1
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    • pp.73-79
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    • 1998
  • In practical fields, the sway of crane systems leads to extra stress to the crane structure during the transporting operation and it is in close connection with its life. Usually, when we operate the cranes with high speed and manual control, the sway motion is irreducible. In this paper, a new type of crane system is proposed to avoid the irreducible sway of the crane systems. The proposed system is composed of mechanical arm with function of anti-sway based on conventional line system. By the anti-sway arm, we can realize to prevent the sway of the container box but cannot avoid the oscillation for the overall body of the crane. So, a controller design method to solve the above stated problem must be considered. The problem is solved by adopting the velocity pattern control methods of trapezoidal and curve types and its effectiveness is proved through experimental results.

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Derivative State Constrained Optimal $H_{2}$ Integral Controller and its Application to Crane System

  • Komine, Noriyuki;Benjanarasuth, Taworn;Ngamwiwit, Jongkol
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2076-2080
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    • 2005
  • Study in this paper concerns the optimal $H_{2}$ integral servo problems for linear crane model systems via the constraints of the derivatives of state variables added to the standard constraints. It is shown in the paper that the derivative state constrained optimal $H_{2}$ integral servo problems can be reduced to the standard optimal $H_{2}$ control problem. The main subject of the paper is to apply the results of derivative state constrained $H_{2}$ integral servo theorem in crane system. The effect of our proposed controller with respect to mitigate an under damping for crane model system is also verified.

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Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State Feedback

  • Kim, Yong-Seok;Hong, Keum-Shik;Sul, Seung-Ki
    • International Journal of Control, Automation, and Systems
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    • v.2 no.4
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    • pp.435-449
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    • 2004
  • In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.

Performance Evaluation of Network Protocol for Protocol for Crane System (자동화 크레인을 위한 네트워크 프로토콜의 성능 평가)

  • Nam Kyoung-Nam;Kim Man-Ho;Lee Kyung Chang;Lee Suk
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.8
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    • pp.709-716
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    • 2005
  • As a way to build more efficient and intelligent container cranes for todays hub ports, communication networks are used to interconnect numerous sensors, actuators, controllers, and operator switches and consoles that are spatially distributed over a crane. Various signals such as sensor values and operator's commands are digitized and broadcast on the network instead of using separate wiring cables. This not only makes the design and manufacturing of a crane more efficient, but also easier implementation of intelligent control algorithms. This paper presents the performance evaluation of CAN(Controller Area Network), TTP(Time Triggered Protocol) and Byteflight that can be used for cranes. Through discrete event simulation, several important quantitative performance factors such as the probability of a transmission failure, average system delay (data latency) and maximum system delay have been evaluated.

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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