• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1999년도 추계학술대회논문집
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• pp.293-296
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• 1999

In conventional automatic container-terminal, the gantry cranes are operated manually or semi-automatically. But UGC is an unmanned-operated gantry crane and the positioning information for UGC is supplied only by position-measuring devices. In order to enhance the operation efficiency of UGC, it is required that the position-measuring devices have long maintenance period and are not sensitive to the weather and environment condition. And in order to be used practically in container terminal, the cost of position-measuring devices is not higher than currently used measuring devices. In the study, it is discussed the requirements for position-measuring devices in UGC, And it is studied on the measuring devices suitable to UGC. From this study, it is expected that the combination of a rotary encoder and a ferrous metal detector is useful for position-measuring devices in UGC.

• Journal of Advanced Marine Engineering and Technology
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• 제25권4호
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• pp.880-888
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• 2001

This paper presents a fault detection asnd isolation algorithm for highly reliable gantry crane system. The algorithm is constructed by multiple PI observer technique, and the magnitude of actuator fault can be estimated by using integrated estimated output error. Also, the complex actuator and /or sensor fault can be detected and isolated by monitoring the integrated error and the estimated state error. Considering the actuator and/or the sensor fault, we verify that these fault can be detected and isolated through simulation. Lastly, we show a simple reliable control method by using the detected fault signal and an added observer.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.387-392
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• 2004

The control objectives in this paper are to move the gantry of a container crane to its target position and to suppress the transverse vibration of the payload. The crane system is modeled as an axially moving string equation, in which control inputs are applied at both ends, through the gantry and the payload. The dynamics of the moving string are derived using Hamilton's principle for systems with changing mass. The Lyapunov function method is used in deriving a boundary control law, in which the Lyapunov function candidate is introduced from the total mechanical energy of the system. The performance of the proposed control law is compared with other two control algorithms available in the literature. Experimental results are given.

• 한국항해항만학회지
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• 제34권6호
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• pp.479-485
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• 2010

컨테이너의 신속한 이송 및 처리는 작업시간 단축에 의한 비용절감을 의미하므로 항만에서는 가능한 작업효율을 향상시키기 위해 다양한 노력이 추진되고 있다. 1990년대 중반부터 RMGC 및 RTGC 등의 크레인이 개발되어 컨테이너 이송 및 적재를 위한 필수장비로 널리 이용되고 있다. 특히 RTGC는 타이어 구동방식이므로 주행환경에 크게 제약을 받지 않는 장점도 있으나, 타이어 슬립, 타이어에 의한 샤시의 기울어짐 등 설정된 경로를 고정도로 주행해야 하는 목적달성에 장애가 되는 요인도 많아 레일 위를 주행하는 RMGC에 비해 자동화가 용이하지 않다. 이것은 무인 RTGC 시스템 구축을 어렵게 하는 가장 큰 요인이 되어 이와 관련한 기술개발 또한 미비한 수준에 이르고 있다. 따라서 본 논문에서 RTGC의 무인자동화에 있어서 가장 기초단계라고 볼 수 있는 수학적 모델링을 기반으로 한 고정도 주행제어기를 설계하고자 한다. 먼저 제어대상인 RTGC의 주행에 따른 운동특성을 분석하여 모델링을 수행한다. 기본적인 주행성능을 달성하기 위한 주행제어기를 설계하고 시뮬레이션을 통해 설계된 제어기의 유용성을 확인하도록 한다.

• Wind and Structures
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• 제19권1호
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• pp.1-14
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• 2014

Rail-mounted cranes can be easily damaged by a sudden gust of wind while working at a running speed, due to the large mass and high barycenter positions. In current designs, working rail-mounted cranes mainly depend on wheel braking torques to resist large wind load. Regular brakes, however, cannot satisfactorily stop the crane, which induces safety issues of cranes and hence leads to frequent crane accidents, especially in sudden gusts of wind. Therefore, it is necessary and important to study the braking performance of working rail mounted cranes under wind load. In this study, a simplified mechanical model was built to simulate the working rail mounted gantry crane, and dynamic analysis of the model was carried out to deduce braking performance equations that reflect the qualitative relations among braking time, braking distance, wind load, and braking torque. It was shown that, under constant braking torque, there existed inflection points on the curves of braking time and distance versus windforce. Both the braking time and the distance increased sharply when wind load exceeded the inflection point value, referred to as the threshold windforce. The braking performance of a 300 ton shipbuilding gantry crane was modeled and analyzed using multibody dynamics software ADAMS. The simulation results were fitted by quadratic curves to show the changes of braking time and distance versus windforce under various mount of braking torques. The threshold windforce could be obtained theoretically by taking derivative of fitted curves. Based on the fitted functional relationship between threshold windforce and braking torque, theoretical basis are provided to ensure a safe and rational design for crane wind-resistant braking systems.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 춘계학술대회 논문집
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• pp.465-470
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• 2004

본 논문에서는, 컨테이너 터미널에서 운행되는 컨테이너크레인의 자동화 시스템을 개방형 제어시스템으로 제안한다. 그리고, 개방형 제어시스템을 하드웨어 모듈과 OS 모듈 그리고 응용소프트웨어 모듈로 구성되는 표준모델로 제시한다. 본 논문의 기여도는 다음과 같다. 첫째, 크레인 제어시스템의 개방화를 위한 새로운 기준모델을 제안한다. 둘째로, 컨테이너크레인의 구조를 분석하고 자동화된 컨테이너크레인을 구현하기 위한 방법을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.166.4-166
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• 2001

The oscillation of a crane system is divided into the oscillation of container in respect of its trolley and the oscillation of trolley in relation to the whole crane system. We introduce a new type of crane system that avoids to the irreducible sway of crane system caused by hanging cables. The cables suspending the spreader are replaced by using an "anti-sway system". The proposed system is composed of mechanical arms with function of anti-sway based on conventional line system. The effectiveness of the proposed new type crane system and the controller is shown through the simulation results.

• 한국정밀공학회지
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• 제26권9호
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• pp.88-95
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• 2009

Input shaping has been a very effective control method for reducing payload swing in industrial bridge and gantry cranes. However, conventional input shapers often degrade performance when applied to tower cranes because of the nonlinear coupled dynamics between rotational and radial motions in tower cranes. To alleviate this problem, a new input shaper for tower cranes is developed by means of dynamic modeling, analysis and optimization. This work investigates the tower crane dynamics along with parameters of the tower crane varied. A performance index for input shaper design is proposed so as to reduce the coupled residual vibration of a tower crane using only rotational motion of tower crane. The proposed new input shaper is verified to be effective through simulations and experiments.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2010년도 춘계학술대회
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• pp.280-281
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• 2010

컨테이너의 효율적인 이송은 작업 시간이 곧 비용으로 연결되는 항만에서 가장 중요한 요소이다. 따라서 1990년대 중반부터 세계항만은 RMGC(Rail-Mounted Gantry Crane), RTGC(Rubber-Tired Gantry Crane)등의 크레인이 개발되어 야드에서 컨테이너를 적재하는데 널리 이용되어 오고 있으며, 특히 최근에는 CCD카메라, 각종 센서 둥을 이용하여 트랜스퍼 크레인의 무인화를 위해 수많은 연구가 진행되었고 실용화 된 많은 기술들이 현장에서 사용되고 있으나, 여전히 많은 부분이 연구를 필요로 한다. 특히 RTGC의 경우 RMGC에 비해 무인 자동화 연구개발은 미비한 수준이다. 따라서 본 논문에서 RTGC의 무인자동화 작업을 위한 가장 기초라고 볼 수 있는 수학적 모델링을 기반으로한 고정밀도 주행제어기를 설계하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.