• 대한기계학회논문집A
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• 제21권2호
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• pp.297-304
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• 1997

This paper presents a systematic design method of an anti-swing control law for overhead cranes. A velocity servo system for the trolley of a crane is designed based on the dynamics of the trolley and its load. The velocity servo system compensates for the effects of load swing on the trolley dynamics so that the velocity servo is independent of load swing. The velocity servo system is used for the design of a position servo system for the trolley via the loop shaping method. The position servo system and the swing dynamics of the load are then used to design an angle control system for load swing based on the root locus method. The combined position servo and the angle control systems constitute the overall control system. In the presence of low frequency disturbances, the proposed control law guarantees accurate position control for the trolley and fast damping for load swing. Furthermore, the performance of the proposed control law is independent of the mass of the load. Experimental results on a prototype crane show the effectiveness of the proposed anti-swing control law.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1907-1908
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• 2006

Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from the initial coordinate to the finial coordinate, the container paths should be built in terms of the least time and without sway. Therefore, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate in this paper. And we constructed the neural network predictive two degree of freedom PID controller to control the precise navigation. The proposed predictive control system is composed of the neural network predictor, two degree of freedom PID controller, neural network self-tuner which yields parameters of two degree of freedom PID. We analyzed crane system through simulation, and proved excellency of control performance over the conventional controllers.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.446-449
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• 1997

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 B
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• pp.1465-1467
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• 2005

In this paper, the harbor container crane which transports containers between a container ship and trucks in the harbor is modeled. The equation of motion is simplified for control purpose. The pole placement technique is used to control the crane to minimize load swing angle The objective of the control is to transfer the load as quickly as possible, while minimizing the amplitude of swing at the end of transfer. Computer simulations are provided.

• 제어로봇시스템학회논문지
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• 제7권7호
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• pp.559-566
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• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• 동력기계공학회지
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• 제8권3호
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• pp.58-66
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.631-636
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the experiment result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.23-31
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• 1997

The sway control problem of pendulum motion of a container hanging on a Portainer Crane, which transports containers from a container ship to trucks, is considered in the paper. The equations of motion are obtained through the Lagrange mechanics and simplified for control purposes. Considering that the fast traveling of trolley and no residual swing motion of the container at the end of acceleration and deceleration are crucial for quick transportation, several velocity patterns of trolley movement including the time-optimal control are investigated. Incorporating the change of rope length, a reference swing trajectory is introduced in the control loop and the error signal between the reference sway angle and the measured sway angle is feedbacked. Proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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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.

• 한국해양공학회지
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• 제14권4호
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• pp.35-42
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• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.