• Journal of Advanced Research in Ocean Engineering
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• v.1 no.2
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• pp.85-93
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• 2015

The nonlinear time-domain analysis method was implemented to carry out a series of integrated simulations for a deep-water crane vessel system composed of four sub components, including a floating vessel, lifted equipment, hoisting cable and dynamic positioning (hereinafter DP) system. The analysis of the coupled dynamics consists of the crane vessel and equipment connected using the crane wire, and the DP is modeled according to the wind, wave and current conditions. The DP systems were numerically implemented using a classical PD feedback controller, and various simulations of the deepwater installation were conducted using different conditions in order to evaluate the global performance of the floating crane vessel combined with the DP system.

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

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

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1404-1409
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• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.56 no.1
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• pp.61-70
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• 2020

In this study, system modeling and dynamic analysis of crane are conducted. Especially, among many different kinds of a crane system, the issues on crane operating problems installed on the vessel are considered. As well known, marine systems including cranes are exposed to various disturbances such as vessel motions, hydrodynamic forces, wave and wind attack, etc. In order to analysis the system dynamic with environmental conditions, the authors derived the nonlinear dynamic model of offshore crane and derived a linear model which is used for designing the control system. Using the obtained nonlinear and linear models, simulations were conducted to evaluate the usefulness of the obtained models. By simulation and result evaluation, the usefulness of the linear model, which presents the dynamics, is effectively verified.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.10a
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• pp.175-180
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• 1998

In container crane system, the variation of cargo weight have effect on the travelling and sway control of load. For precise travelling and/or anti-sway control of crane system, the cargo weight should be measured and considered with control algorithm. But, and added attachment for measuring the cargo weight put restraint upon the control freedom for travelling and anti-sway. In this paper, we propose an estimation method for cargo weight in container crane system by using observation technique. First of all, we model the container crane system as a bilinear system and transform this model into linear system with external disturbance model. Second, we propose a generalized type - disturbance estimation observer and set a disturbance model, where, the cargo weight is related with the sway of load, and the sway is represented as a periodic external disturbance. Lastly, by using simulation we verify that the proposed algorithm of disturbance estimation observer is effective to estimate the cargo weight, and it will be used with anti-sway control algorithm.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.333-344
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• 1999

Currently many studies on the unmanned gantry crane for the automated container terminal are accomplished. This is needed for the development of large scale, automation, high speed, unmanned system and information system in port facility. In order to do efficient container handling job in port yard, the automated handling system is well adapted to the job environments and all-season weather, In order to realize the automatic and unmanned system for container handling job, the required functions and main structure system are studied. The major problems of operation of the conventional gantry crane are that the vibration of gantry structure body is occurred by operation and that high-speed and precision position-velocity control and the capability to dope to the external disturbances caused by the wind, rain, fog and job environments. In this paper, the fundamental study for establishment of the concept and the dynamic modelling of the major sub system of the unmanned gantry crane is presented. These studies are useful for design and manufacturing of the new concept model of the unmanned gantry crane for efficient operation of the automated container terminal.

• Korean Journal of Computational Design and Engineering
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• v.15 no.1
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• pp.70-83
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• 2010

Recently, floating cranes are mainly used to erect heavy blocks or cargos for constructing ships in many shipyards. It is important to estimate the dynamic motion of the heavy cargo suspended by a floating crane and the tension of the wire ropes between the floating crane and the heavy cargo. In this paper, the coupled dynamic equations of motion are set up for considering the 6 degree-of-freedom floating crane and the 6-degrees-of-freedom heavy cargo based on multibody system dynamics. Depending on the cargo weight, the motion of the floating crane would be changed to nonlinear state. The nonlinear terms in the equation of motion are considered. In addition, the nonlinear hydrostatic force, the linear hydrodynamic force, wire rope force, mooring force and gravity force are considered as the external forces. As the result of this paper, we analyze the engineering effect for erecting the heavy cargo by using the floating crane.

• KIEAE Journal
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• v.7 no.6
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• pp.83-90
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• 2007

A mobile crane has been more frequently used to deal with the increased capital-intensive projects in line with the economic growth, but the operation is still heavily dependent on personal experience in the past, resulting in severe overturn accidents that cause the loss of lives and damage to the properties. A crane shall be installed in a systematic manner that proved to be safe in engineering aspect, and should the installation and operation be blindly dependent on experience alone, it would apparently cause a great risk. Particularly the mobile crane, among others, frequently causes a severe overturn accident due to poor ground-fixing device. The study therefore focused on fixing system of mobile crane and the outcome is highly expected to make a great commitment to selecting the optimal type of crane for the project as well as to securing the safety during construction.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.153-158
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• 2004

In this paper, we proposed a two-stage control of the container crane. The first stage control is time-optimal control for the purpose of fast trolley traveling. With suitable trolley velocity patterns, the sway which is generated during trolley moving is minimized. At the second stage control feedback control law is investigated for the quick suppression of residual vibration after the trolley motion. For more practical system, the container crane system is modeled as a partial differential equation (PDE) system with flexible cable. The dynamics of the cable is derived as a moving system with tension caused by payload using Hamilton's principle for the systems. A control law based upon the Lyapunov's method is derived. It is revealed that a time-varying control force and a suitable passive damping at the actuator can successfully suppress the transverse vibrations.