• 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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• 1998.10a
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• pp.159-165
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• 1998

In this paper the sway-control problem of a container crane is investigated. The control loop is divided into two stages. The first stage is a modified time optimal control for trolley traversing. The velocity command for trolley traversing consists of three components ; a reference velocity and two feedback signals for compensating the deviations of trolley and sway angle from their desired trajectories. For trolley's exact positioning the trolley dynamics is identified via an error equation identifier structure. The second stage is a nonlinear residual sway control that starts at the end of first stage. The control design for the second stage is investigated from the perspective of controling an underactuated system, and the control law combines the feedback linearization and variable structure control.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.08a
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• pp.102-112
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• 2004

In this paper, we propose a human model for analysis for human work pattern or human fault, where a gantry crane simulator is used to survey the property of human operation. From the input and output of gantry crane response, we make a human operation model by using conventional ARX identification method. For identify the human model, we assume the eight inputs and two outputs. By using the input/output data, we estimate the parameters of ARX of the human system model. For verify the proposed method, we compared the real data with the modeled data, where three kinds of work trajectory path are used.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2458-2460
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• 2000

The goal of crane control system is transporting heavy objects to a target position as fast as possible without rope oscillation. This paper presents a GA-based fuzzy logic controller for crane system. GA is going to decide membership functions, instead of an expert. In this paper, The centers and widths of the membership function of the fuzzy sets defined over the input space, the orders and parameters of subsystems in the consequence parts are adjusted by a genetic algorithm. The effectiveness of the proposed method is verified by simulation.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.436-441
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• 2001

In this paper, stacker crane is modeled as rigid elements and discrete flexible beam connections by kinematics & dynamics solver package program instead of deriving the equations of motion which describes the total dynamics of the system. For the simulation of structural dynamics, ADAMS, a software for the simulation of multiple rigid body dynamics, is used. Some kinds of works are fulfilled to examine the dynamic characteristics of system. In order to verify the analysis method, the results of simulation and experiment are compared.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.5
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• pp.505-511
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• 2014

The functional role of warehouses in modern industry is changing from an established concept of storage to a concept of circulation. The target of this study is to improve the stacker crane's efficiency for the internal operations of the Automated Storage and Retrieval System (AS/RS). Eight operating schemes are proposed under the combination of three conditions, namely, the storing method, the layout type, and the sequence of command execution. The moving distance of the stacker crane is calculated using the same gateway data through a simulation based on a C# program. The optimal operating scheme is proposed based on the analyzed simulation results. In conclusion, the combination of conditions of random storage, two-way type warehouse, and dual command execution elicits optimum results in travel efficiency for the stacker crane.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1370-1373
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• 1993

In controlling a system having many variables to control and multi objectives to satisfy such as a roof crane system, it is often difficult to obtain fuzzy If-Then rules in usual ways. As an alternative, we can more easely obtain rules in such a manner that we obtain each independent group of rules using partial variables for a partial objective. In this case, obtained rules can be conflicting with each other and conventional inference methods cannot handle such rules effectively. In this paper, we propose a roof crane controller with optimal velocity profile generator and a fuzzy logic controller with an inference method suitable for such conflicting rules.

• Journal of Korean Institute of Industrial Engineers
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• v.21 no.2
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• pp.239-254
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• 1995

Automated Storage/Retrieval (AS/R) systems have been used mostly in manufacturing or distribution industry in order to store or retrieve palletized items automatically. Since the items ore heavy or bulky, only one pallet at a time is moved by the stacker crane In this study, however, we introduce the "multi -load" AS/R system in which the items to be stored are data storage devices of equal size such as video tape or compact disc. Since the items are small and light multiple items can be stored and retrieved in each trip by using a magazine and a robot arm mounted on the crane Given the magazine capacity, and the locations of retrieval items and empty cells in the rack, the throughput of the multi-load AS/R system will depend on the selection of storage locations and the sequence of visits. We propose four heuristic algorithms for the multi-command. Computer simulation is used to evaluate the four algorithms in terms of throughput and number of back tracking of the crane.

• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.280-283
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• 2001

The crane operates in three directions, hoisting, traversing, and travelling motion. In this study, an AC drive system for these motions of the crane is developed and tested. The command from an operator is transmitted to PLC, which sends data to a main controller by fieldbus protocols such as Profibus or Devicenet. And the main controller is connected to other auxiliary ones by CAN bus. The each controller, which has the same structure, regulates its motor speed from the operator's command.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.4
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• pp.880-888
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• 2001

This paper presents a fault detection asnd isolation algorithm for highly reliable gantry crane system. The algorithm is constructed by multiple PI observer technique, and the magnitude of actuator fault can be estimated by using integrated estimated output error. Also, the complex actuator and /or sensor fault can be detected and isolated by monitoring the integrated error and the estimated state error. Considering the actuator and/or the sensor fault, we verify that these fault can be detected and isolated through simulation. Lastly, we show a simple reliable control method by using the detected fault signal and an added observer.