• 한국철도학회논문집
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• 제18권5호
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• pp.447-456
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• 2015

본 연구에서는 궤도틀림 측정용 트롤리의 사용성을 증진하기 위한 방편의 하나로 트롤리의 정지시 뿐만 아니라 이동시 계측방안과 이에 따른 계측오차의 최소화 방안에 대하여 논의하였다. 이를 위하여 트롤리의 완화곡선 및 원곡선내 주행에 따른 궤도틀림 측정의 정밀도를 향상시키기 위한 운동학적 관계식을 새롭게 제안하였으며 비선형 확장 칼만필터를 도입하여 계측오차를 최소화하였다. 제안한 모형의 적용성 파악을 위하여 이론적인 궤도상태를 가정한 후 이산형 및 연속형 궤도틀림 측정에 따르는 표준편차를 산정하였으며 이 결과, 제안한 모형의 효용성을 입증하였다. 또한 기존 궤도 틀림 모형과의 비교를 통해 제안한 운동학적 관계식의 우월성을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1404-1409
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• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

• International Journal of Internet, Broadcasting and Communication
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• 제7권2호
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• pp.109-112
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• 2015

The Korean electric railway is growing rapidly such as speed of 300km/h in high speed section and 230km/h in the conventional railway section. But, power supply failure occurs because of loss of contact, defective catenary system and high speed vehicle. Therefore preventive maintenance way based reliability has been applied. Typical example is the facility inspection method using trolley inspection system. But it is required differentiated inspection method to prevent problem such as inspection errors. In this paper, a study on the trolley sliding condition inspection system using monitoring techniques is performed for performance enhancement of inspection system. It proposed the efficient maintenance method through monitoring the deviation and height of contact wire after installing inspection system on the top of train which operates in the metropolitan area. Inspection errors were decreased by virtually monitoring the video of faulty facilities. Also those facilities were identified through the impact sound analysis and tests at the main catenary section.

• 한국생산제조학회지
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• 제21권6호
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• pp.878-884
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.211-216
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• 2014

In general, gantry robot is very useful handling of heavy objects. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 전기학회논문지
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• 제66권6호
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• pp.975-980
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• 2017

Overhead catenary system of electric railway has overlap sections which devide and tighten trolley wire supplying electric power to train, where current collection performances may become worse according to railway speed-up. Current collection tests conducted at 400 km/h test-bed section of Honam high-speed railway show that balanced line arrangement at overlap section is needed to secure current collection without arc generation between trolley wire and train current collection device. This paper proposes a design procedure of the overlap section to allow for tension increase and uplift of the trolley wires according to railway speed-up. By applying the proposed procedure to the overhead catenary system of Honam high-speed railway, it is suggested that the minimum span length should be 33.2 m for railway speed-up to 350 km/h and 43.7 m for speed-up to 400 km/h.

• Structural Engineering and Mechanics
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• 제28권4호
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• pp.491-494
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• 2008

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.674-682
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• 2017

This paper presents an optimal initial firing angle control based on the energy consumption and regenerative energy of a parallel multi-pulse thyristor dual converter for urban railway power substations. To prevent short circuiting the thyristor dual converter, a hysteresis band for maintaining a zero-current discontinuous section (ZCDS) is essential during mode changes. During conversion from the ZCDS to forward or reverse mode, the DC trolley voltage can be stabilized by selecting the optimal initial firing angle without an overshoot and slow response. However, the optimal initial firing angle is different depending on the line impedance of each converter. Therefore, the control algorithm for tracking the optimal initial firing angle is proposed to eliminate the overshoot and slow response of DC trolley voltage. Simulations and experiments show that the proposed algorithm yields the fastest DC voltage control performance in the transient state by tracking the optimal firing angle.

• 동력기계공학회지
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• 제7권4호
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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.

• 대한기계학회논문집A
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• 제25권12호
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• pp.1919-1925
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• 2001

Overhead cranes consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. If objects are regarded as mass point, and the acceleration of hoisting motion for objects is neglected, analytical model of overhead cranes becomes a nonlinear model because the length of a rope changes. Equations of motion this model is derived of simultaneous differential equations fur motors and object. Positions of the model are controlled by optimal inputs which obtain from a nonlinear optimal control method. From the results of computer simulation, even if initial states of objects suing, it is founded that position of overhead cranes is controlled, and that swing of objects is suppressed.