• Title/Summary/Keyword: anti-sway system

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A Study on Development ATCS of Transfer Crane using Neural Network Predictive Control (신경회로망 예측제어에 의한 Transfer Crane의 ATCS 개발에 관한 연구)

  • 손동섭;이진우;이영진;이권순
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2002.11a
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    • pp.113-119
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    • 2002
  • Recently, an automatic crane control system is required with high speed and rapid transportation. During the operation of crane system in container yard it is necessary to control the crane trolley position and loop length so that the swing of the hanging container is minimized We can do development of unmanned automation control system using automation travel control technique and anti-sway technique in crane system. Therefore, we designed a controller for Automation travel control to control the transfer crane system. Analyzed crane system through simulation, and proved excellency of control performance than other conventional controllers.

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A Study on Performance Enhancement for Remote Operation of Industrial Equipments

  • Lho, Tae-Jung;Joo, Hyun-Woo;Kang, Dong-Jung;Song, Se-Hoon;Park, Ki-Tae
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.813-817
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    • 2003
  • By increasing trades between countries, importance of harbors is becoming serious, including our country. When it comes to Container Crane Operation, the most important matter is how many containers are loaded in a truck or a ship by given time. This can be a crucial matter of harbors in taking care of materials. The present harbors' crane uses a wire-rope conveyance materials are transported in the air and have high free-angle of location. The sway can cause the delay of time, wrong position of Trolley and the damage of materials. In this study, we obtain the optimal PID parameters with GA(Genetic Algorithm) and apply those parameters to the PID Controller. In the result of the experimentation, we can see how effectively the PID controller, applied with the optimal parameters obtained by GA, can control the sway angle.

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Anti-Sway System of Container Transfer Crane for Automated Container Terminal : Part I - Basic Structure, Modeling and Control (자동화 컨테이너 터미널을 위한 컨테이너 트랜스퍼 크레인의 안티 스웨이 시스템;Part I - 기본 구조, 모델링, 제어)

  • 박찬훈;김두형;신영재;박경택
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.11
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    • pp.1112-1118
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    • 2004
  • Automated container terminals have been developed over the world years and many countries are interested in them because the amount of containers exported or imported is rapidly increasing. The conventional container terminals were not designed to handle this kind of heavily many containers. They would face many structural problems soon or later, although they have been managed to do well so far. One of the most important things in automated container terminal is the handing equipments able to transfer many containers efficiently. Those are maybe automated transfer cranes, automatic guided vehicles and automated quay-side cranes. The word 'automated' means the equipment is operated without drivers and those equipments are able to work without any interruption in working schedule. Through the researches on the conventional transfer cranes, we decided that the structure of conventional transfer cranes is not proper in automated container terminal and it is not possible to handle so many container in limited time. Therefore we have been studying on the proper structure of the automated container for past several years and a new type of transfer cranes has been developed. Design concept and control method of the new crane are introduced and experimental results are presented in this paper.his paper.

Anti-Sway System for Automated Transfer Crane (자동 트랜스퍼 크레인을 위한 컨테이너 흔들림 장치)

  • 박찬훈;박경택;김두형
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.1743-1746
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    • 2003
  • Automated Container Terminals have been being developed over the world for many recent years and more and more countries get interested in it because the amount of containers exported or imported is steeply increasing. Existed Container Terminals were not designed to control this kind of heavily many containers. They would face many structural problems soon or later, although they have managed to do well until now. One of the most important things in developing Automated Container Terminal is to develop the equipment able to transfer the awfully many containers. Those are maybe Automated Transfer Cranes, Automated Guided Vehicles, and Automated Quay-Side Cranes. The word "Automated" means the equipment is operated without drivers and those equipments are able to work without taking any break. Through the researches on the existed transfer cranes, authors decided that the structure of existed transfer cranes is not proper to swift and fast transfer and it′s not impossible to handle so many containers in limited time. Therefore authors have been studying on the proper structure of the Automated Container Crane for past several years and a new type of transfer crane has been developed. Design concepts and control methods of a new crane will be introduced in this paper.

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A Study on A Development of Automatic Travel Control System of Crane using Neural Network Predictive Two Degree of Freedom PID Controller (신경회로망 예측 2자유도 PID 제어기를 이용한 크레인의 자동주행 제어 시스템 개발에 관한 연구)

  • Sohn, Dong-Seop;Lee, Chang-Hoon;Lee, Jin-Woo;Lee, Kwon-Soon
    • Proceedings of the KIEE Conference
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    • 2002.07d
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    • pp.2788-2790
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    • 2002
  • In this paper, we designed neural network predictive two degree of freedom PID controller to control sway of crane Crane's trolley arrive minimum oscillation of transfer body and establishment position in minimum time. When various establishment location and surrounding disturbance were approved based on mathematical modeling of crane, controller designed to become effective control location error and oscillation angle of two control variables that simultaneously can predictive control. We wish to develop automatic travel control system through anti-sway skill of crane.

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Anti-Sway System for Container Transfer Crane for Automated Container Terminal: Part Ⅱ - Model Crane Implementation and Verification (자동화 컨테이너 터미널을 위한 컨테이너 트랜스퍼 크레인의 안티스웨이 시스템: Part Ⅱ-모델 크레인 및 실험 검증)

  • Park ChanHun;Kim DooHyung;Shin YoungJae;Park KyoungTaik
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.12
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    • pp.1287-1294
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    • 2004
  • Automated container terminals have been being developed over the world for recent years and many countries are interested in it because the amount of containers exported or imported is rapidly increasing. The conventional container terminals were not designed to control this kind of heavily many containers. They would face many structural problems soon or later, although they have managed to do well so far. One of the most important things in developing automated container terminal is to develop the equipment able to handle many containers efficiently. Those are maybe automated transfer cranes, automatic guided vehicles, and automated quay-side cranes. The word 'automated' means the equipment is operated without drivers and those equipments are able to work without any interruption in working schedule. Through the researches on the conventional transfer cranes, we decided that the structure of the conventional transfer cranes is not efficient in automated container terminal and it's not possible to handle so many containers in limited time. Therefore we have been studying on the proper structure of the automated container crane for past several years and a new type of transfer crane has been developed. Design concept and control method of a new type of transfer crane had been presented in the previous paper: Part Ⅰ. Experimental features will be presented with a model transfer crane in this paper: Part Ⅱ.

Anti-Sway Control of the Overhead Crane System using HOSM Observer

  • Kwon, Dongwoo;Eom, Myunghwan;Chwa, Dongkyoung
    • Journal of Electrical Engineering and Technology
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    • v.11 no.4
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    • pp.1027-1034
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    • 2016
  • This paper proposes a sum of squares (SOS) method for anti-swing control of overhead crane system using HOSM (High-Order Sliding-Mode) observer. By representing the dynamic equations of overhead crane as the polynomial dynamic equations via Taylor series expansion, the control input is obtained from the converted polynomial dynamic equations by numerical tool SOSTOOL. Since the actual crane systems include disturbance such as wind and friction, we propose a method to compensate for the disturbance by estimating the disturbance using HOSM observer. Numerical simulations show the effectiveness and the applicability of the proposed method.

Fuzzy Control of Anti -Sway Motion for a Remote Crane Operation

  • Park, Sun-Won;Kang, E-Sok
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.42.1-42
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    • 2001
  • This paper presents a fuzzy-based method for classification skin color object in a complex background under varying illumination. Parameters of fuzzy rule base are generated using a genetic algorithm(GA). The color model is used in the YCbCr color space. We propose a unique fuzzy system in order to accommodate varying background color and illumination condition. This fuzzy system approach to skin color classification is discussed along with an overview of YCbCr color space.

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Simulation of Vessel Motion Control by Anti-Rolling Tank (능동형 횡동요 저감 장치를 이용한 선박운동제어 시뮬레이션)

  • Kim, Kyung Sung;Lee, Byung-Hyuk
    • Journal of Ocean Engineering and Technology
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    • v.32 no.6
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    • pp.440-446
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    • 2018
  • The effects of an anti-rolling tank (ART) on vessel motions were numerically investigated. The potential-based BEM vessel motion simulation program and particle-based computational fluid dynamics program were dynamically coupled and used to perform a simulation of vessel motions with ART. From the time domain simulation results, the response amplitude operators for sway and roll motions were obtained and compared with the corresponding experimental and numerical results. Because the main purpose of ART was only to reduce roll motions, it was important to show that the natural properties of a floating vessel were not changed by the effects of ART. Various ART filling ratios and several ART positions were considered. In conclusion, ART only reduced the roll motion regardless of its filling ratio and position.