• 한국산업융합학회 논문집
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• 제24권6_2호
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• pp.937-946
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• 2021

The floating crane is used to lift the heavyweight on the ocean. The floating crane has a winch system for lifting the heavyweight and the system is controlled by the winch control system. The heavyweight is lifted safely by control of the winch control system. Before the make the control system and controller, there are many restricted conditions to test and validate at design and development steps. In order to solve the problems, commonly use the HILS (Hardware-In-the-Loop-Simulation). HILS is the method of test and validation for the hardware control system. It can be composed of the control system in hardware with surrounding environments which is a virtual model. In this study, we developed the winch system model for HILS of the 150t winch control system in a floating crane. Through this simulation and winch model, it can be applied to HILS for the winch control system.

• 한국수산과학회지
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• 제37권4호
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• pp.330-336
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• 2004

To meet the increasing demand from various fishing fields for training of fishing equipment operators, a fishing winch simulator was designed to train maritime students in the correct and safe operation of hydraulic winches under various load conditions related to fishing operations. The aim of this study is to describe the basic dynamic characteristics of the newly developed hydraulic fishing winch simulator and particularly to analyze the mechanical responses produced on the winch operation controls. The winch simulator consists of two winch units, a computer control and data acquisition system, a control consol and other associated mechanisms. When one winch is in hauling mode, the other one will always be in loading mode. The revolution speed of the hauling winch was controlled by a proportional directional control valve, and the braking torque of the loading winch was controlled by a proportional pressure control valve. The simulation experiments indicated that the dynamic characteristics of the hauling winch followed the braking response characteristics of the loading winch. The tests also showed that the warp speed and tension linearly depend on the pressure differential across the motor of the loading winch controlled by operating the proportional pressure control valve during the hauling operation. The experience gained from various training courses showed that the fishing winch simulator was very realistic and it was valuable for training novice winch operators. The results of the winch simulation exercise were recorded and used to evaluate the training on the operation and handling of the winch system. From these test results, we concluded that the tension acting on the warp during hauling operations can successfully be simulated by controlling the pressure differential across the motor with step changes of the control input signal to the proportional pressure control valve of the loading winch.

• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.489-495
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• 1999

This paper contains the design specification and detail design for a towing winch system. We analyze operating condition of the system and decide the design specification for the winch system, and also perform a detail design for the subsystem such as hydraulic winch system, control equipment and power supplier at the full scale development. The performance of designed towing winch is established by load tests and sea trial tests.

• 한국군사과학기술학회지
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• 제3권1호
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• pp.47-57
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• 2000

This paper contains the design specification and detail design for a seaborne towing winch system. We analyze operating condition of the system and decide the design specification for the towing winch system, and also perform a detail design for the subsystem such as hydraulic winch system, control equipment and power supplier at the full scale development. The performance of designed towing winch is established by load tests and sea trial tests.

• 동력기계공학회지
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• 제17권3호
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• pp.89-98
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• 2013

In this paper, the authors consider control system design problem of barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design problem. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. Even though sometimes the thrust systems are installed on it, in general the mooring winch system with the rope is used. It may be difficult to compare the control performances of two types. But, if we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a single type mooring winch system and control system design problem in which accurate position control is needed. Because this result can be extended to the general type mooring system in which a number of winch are installed. At first, a mathematical model of winch is obtained and evaluated to verify the usefulness for control system design by experiment. Also, the disturbance model is extracted from experiment data to evaluate the strength of the uncertainty. Based on this results, the robust control system is designed and control performance is evaluated by simulation.

• 수산해양기술연구
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• 제53권3호
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• pp.293-301
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• 2017

In this study, a winch and load motion control system design method is introduced. Especially, the winch and load (moving cart) are connected with long wire rope which is extended to few kilometers long. Therefore, the rope length changes such that many dynamic parameter values are changed as well by winding and releasing the rope from the winch system. In this paper, the authors designed the control system by considering the real time parameter variation to occupy and keep good control performance continuously. The effectiveness of introduced method was evaluated by simulation results.

• 수산해양기술연구
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• 제36권1호
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• pp.12-24
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• 2000

The electro-hydraulic servo winch system built in a automatic tension control equipment was designed with a latent need for an advanced system in fishing operations of the inshore and coastal fishing vessels. In order to keep the constant tension condition of warp under loading, a tension control circuit was added to the servo winch system.The dynamic performance in the open loop behaviour of the designed winch system was investigated and its applicability was tested for various possibilities of load using a load generator especially developed in order to this study.The mechanical characteristics of this system is different from that of a conventional type, that is, the tension, length, line speed and drum revolution can be automatically controlled by the information from various sensors, such as torque, rpm and pressure transducers. from the experiment results, it was verified that the servo winch system has very good output and tracking behaviour for the control input signals in different operating conditions though overshoot of out 8% in the transient characteristics of torque under the load though a overshoot of about 8% in the transient characteristics of torque under the load condition can be observed when the opening of servo valve, adjustable by the input voltage between - 10 V up to 10 V, changed suddenly.Consequently, the improved fishing winch system can be effectively used as the automatic shooting and hauling equipment of low cost for small inshore and coastal fishing vessels which engage in net fishing.

• 대한토목학회논문집
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• 제30권4A호
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• pp.337-342
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• 2010

일반적으로 하천 시설에 사용되는 수문은 기계식 및 유압식, 혼합식 권양기에 의하여 개폐되며, 구조물의 크기 및 구조상 2개 이상의 인양장치로 동조를 이루며 안전하게 개폐되어야 한다. 수문의 개폐 시 설계상 정확히 고려할 수 없는 수압 및 마찰로 인하여 구조물에 추가적인 하중이 발생하게 된다. 이러한 추가적인 하중은 수문의 끼임 현상 및 권양기의 과부하 등을 초래하고, 이는 수문의 안전에 중대한 영향을 미치게 된다. 본 논문에서는 이러한 수문의 개폐 시 발생하는 불안전한 요소에 대응하여 권양기가 동조를 이룰 수 있도록 유압 및 변위를 동시에 고려한 FDC(Force-Displacement Control)시스템을 설계하였다. 설계된 FDC 시스템을 XG5000프로그램의 PID 기능을 이용하여 구현하였으며, 다중 유압 실린더 수문 권양기(winch) 모형을 제작하여 FDC 시스템을 실험적으로 검증하였다. 실험 결과 개발한 FDC 시스템은 수문의 개폐 시 발생하는 다양한 외부하중에 대응하여, 다중 유압 실린더로 이루어진 수문 권양기가 동조를 이루며 개폐됨을 확인하였다. 실험 결과로부터 FDC 시스템은 수문 권양기에 적용시 효과적임을 확인 하였다.

• 드라이브 ㆍ 컨트롤
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• 제13권4호
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• pp.23-30
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• 2016

This paper presents a control-oriented dynamical model of a towing rope system with variable-length. In this system, a winch driven by a motor's torque uses the towing rope to pull a cart. In general, it is a difficult and complicated process to obtain an accurate mathematical model for this system. In particular, if the rope length is varied by operating the winch, the varying rope dynamics needs to be considered, and the key physical parameters need to be re-identified... However, real time parameter identification requires long computation time for the control scheme, and hence undesirable control performance. Therefore, in this article, the rope is modeled as a straight massless segment, with the mass of rope being considered partly with that of the cart, and partly as halfway to the winch. In addition, the changing spring constant and damping constant of the towing rope are accounted for as part of the dynamics of the winch. Finally, a reduced-order observer-based servomechanism controller is designed for the system, and the performance is evaluated by computer simulation.

• 한국군사과학기술학회지
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• 제5권1호
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• pp.45-58
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• 2002

In this paper, we designed the circuit of drive control for towing winch. It is composed of reference voltage circuit for driving voltage reference, low pass filter circuit for noise reduction, dead zone circuit for initial transient input, and driving circuit for drum direction/velocity control. Also it is realized a drive control circuit for towing winch drum in accordance with PWM(pulse width modulation) method to suit it's purpose of a large capacity driving system. The performance of the designed circuit is analyzed by experiments and the appliablity for driving the towing winch drum satisfactorily is evaluated through a various testing.