• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2474-2479
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• 2005

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 nonlinear 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. 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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2017.11a
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• pp.58-60
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• 2017

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. This paper describes a model for studying the dynamic behavior of the offshore crane system. The obtained model allows to evaluate the fluctuations of the load arising from the elasticity of the rope. Especially, in this paper, the authors design control system in which just winch rotation angle and rope tension are used without load position information. The controller design based on input-output feedback linearization theory is presented which can handle the effect of the elasticity of the rope and track the load target trajectory input. Besides that, a full order observer is designed to estimate unknown states. Finally, By the experiment results, the effectiveness of proposed control method is evaluated and verified.

• Journal of Navigation and Port Research
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• v.29 no.6 s.102
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• pp.555-560
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• 2005

Recently, many control systems are replaced with digital control systems in an effort to optimize the overall performance. In order to operate these systems efficiently, the conventional point-to-point connection method must be changed to the signal exchange via a communication network. This paper investigates the technical feasibility of the crane system using CAN protocol which is a part NMEA 2000 by implementing a network-based control system emulating the crane control system.

• Journal of Power System Engineering
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• v.11 no.4
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• pp.103-108
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• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.48.5-48
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• 2002

$\textbullet$ Contents 1 Introduction $\textbullet$ Contents 2 Crane Description $\textbullet$ Contents 3 Self-tuning Controller Design $\textbullet$ Contents 4 Result of Experiments $\textbullet$ Contents 5 Conclusions $\textbullet$ Contents 6 References

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.43-53
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• 2003

A modified command shaping control to reduce residual vibrations at a target position and to limit the sway angle of the payload during traveling for container crane systems is investigated. When the maneuvering time is minimized, a large transient amplitude and steady state oscillations may occur inherently. Since a large swing of the payload during the transfer is dangerous, the control objective is to transfer a payload to the desired place as quickly as possible while limiting the swing angle of the payload during the transfer. The conventional shapers have been enhanced by adding one more constraint to limit intermediate sway angles of the payload. The developed method is shown to be more effective than other conventional shapers for prevention of an excessive transient sway. Computer simulation results are provided.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.958-965
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• 2007

The spreaders on container cranes are usually controlled to stop at the same time as their trolleys are stopped. Despite the use of adequate control systems, however, the spreaders usually have comparatively large sway movements, due to their suspension from the trolleys through cables. It is, therefore, important to accurately measure the attitudes of the spreaders, in order to suppress such sways by means of secondary control. Until now, most of conventional anti sway control systems focus on the direct control of the movements of trolleys. which seems not suitable to speed up the entire process - loading and unloading of containers. In this paper, we suggest a new anti sway control system: By using extra equipments - two propellers to suppress the sway and a PSD camera to measure the spreader's attitude - installed on the spreader and the trolley. the sway of the suspended load j, considerably suppressed. The effectiveness of the proposed scheme is verified by the computer simulation and experiment with the miniature of the container crane system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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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.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.832-835
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• 1996

The main purpose of this study is to achieve the effective port works by using of container-crane, to disposer of many containers rapidly by using of vision sensor in order to control the swing of spreader. It is examined the possibility of automation in container-crane through a test in the field.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1119-1121
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• 1996

The main purpose of this study is to achieve the effective port works by using of container-crane, to disposer of many containers rapidly by using of vision sensor in order to control the swing of spreader. It is examined the possibility of automation in container-crane through a test in the field.