• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1428-1431
• /
• 1996

This paper proposes an anti-swing control law for a 2 degrees of freedom overhead crane. The dynamic model of a 2 degrees of freedom crane is highly nonlinear and coupled. The model is linearized and decoupled for each degree of freedom of the crane for small motions of the load about the vertical. Then a decoupled anti-swing control law is designed for each degree of freedom of the crane based on the linearized model. The control law consists of a position control loop and an swing angle control loop. The position loop,. is designed based on the loop shaping method and the swing angle loop is designed via the root locus method. Finally, the proposed anti-swing control law is implemented and evaluated on a 2 degrees of freedom prototype crane.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 1998.10a
• /
• pp.153-158
• /
• 1998

In this paper, we present a design of optimal 2-DOF PID controller for control of gantry crane which has to control swing motion and trolley position. For tuning the parameter of 2-DOF PID controller, we used evolution strategy(ES). 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 speed and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2011.11a
• /
• pp.151-152
• /
• 2011

As recent construction projects aim to build higher and bigger buildings, lifting operation is getting increasingly important in construction sites. Accordingly, as tower cranes get higher and higher, disasters involving tower cranes are also on the rise. According to occupational incident statistics of the Korea Occupational Health & Safety Agency (KOHSA), most of such incidents occur in installation, dismantling and climbing phases of tower crane. Therefore, it is essential to develop preventative measures to secure safety of tower crane operations, with critical focus on installation, dismantling and climbing of tower crane. Hence, this research attempts to measure criticality of key risk factors in installation, dismantling and climbing phases of tower crane on construction site and propose necessary safety measures. As a result, conclusions herein will contribute to minimize disasters and incidents involving tower cranes in high-rise building construction sites.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.166.4-166
• /
• 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.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.5
• /
• pp.435-442
• /
• 1997

The roof crane system is used for transporting a variable load to a target position. The goal of crane control system 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 speed and rapid tansportation is required. In this paper, we developed a simple fuzzy controller which has been introduced expert's knowledge base for anti-swing and rapid tranportation to goal position. In particular, we proposed the synthesis reasoning method which synthesizes on the basis of expert knowledge of the angle control input and position control input which are inferenced parallel and simultaneously. And we confirmed that the performance of the developed controller is effective as a result of applying it to crane simulator and also verified whether the proposed synthesis rules have been applied correctly using clustering algorithm from the measured data.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.04a
• /
• pp.112-117
• /
• 1997

This paper presents a GA(Genetic Algorithms)-Optical control strategy for the control of the swing motion and the transverse position of the overhead crane. The overhead crane system is defined uncertain due to unknown system parameters such as payload and trolly mass. To control the overhead crane. the GA-Optimal control scheme is suggested. which transfers a trolly to a desired place as fast as possible and minimizes the swing of the payload during the transfer. The genetic algorithms are applied to fine digital optimal feedback gains. A computer simulation demonstrate the performance of the proposed the GA-digital optimal controller for the overhead crane.

• Journal of Power System Engineering
• /
• v.12 no.6
• /
• pp.36-41
• /
• 2008

A crane is very important mechanical systems in industrial applications to move huge objects. Especially, in marine port terminals, it is used to place container boxes at desired position within given operating time. However, such system is faced with environmental disturbance such as wind from the sea, thus crane control system is required to cope with this nature. This paper proposed robust and adaptive control algorithm of a complicated 3D crane against the environmental disturbance. We simplify a mathematical design procedure to derive our control algorithm. We conduct real-time experiment using a crane simulator to evaluate its superiority and reliability.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.8 no.2
• /
• pp.11-19
• /
• 2012

Crane systems have been widely used for transportation in building sites, ports, nuclear wastehandling operation and so on. As a typical underactuated system, an overhead crane has such merits as high flexibility and less energy consumption. And it's getting more types of cranes, universally applicable algorithms should be developed. That is the design and development of scalable algorithms are required. Developed algorithms can be used for the controller and crane overload protection that meets the requirements of the algorithm are presented. These algorithms force the state to warn the operator and stops the operation of equipment. In this paper, crane overload conditions that can cause damage to alert the operator, and to limit the operation of equipment overload protection algorithm is presented.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.283-283
• /
• 2000

In this paper, we deals with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry crane's characteristics, the system is decentralized into two subsystems such as the travelling and sway subsystem, and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using observability canonical form. The decentralized subsystems include unknown input which coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques and those estimated values are used to construct an input compensation form. Lastly, the proposed decentralized control scheme far the gantry crane systems is verified by crane simulation.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.2
• /
• pp.148-155
• /
• 2005

This study was carried out to analyze the effect of direction of wind load and machinery house location on the stability of container crane loading/unloading a container on a vessel. The overturning moment of container crane under wind load at 50m/s velocity was estimated by analyzing reaction forces at each supporting point. And variations of reaction forces at each supporting point of a container crane were analyzed according to direction of wind load and machinery house location. The critical location of machinery house was also investigated to install a tie-down which has an anti-overturning function of container crane at the land side supporting point.