• Title/Summary/Keyword: crane system

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Position Control of Nonlinear Crane Systems using Dynamic Neural Network (동적 신경회로망을 이용한 비선형 크레인 시스템의 위치제어)

  • Han, Seong-Hun;Cho, Hyun-Cheol;Lee, Kwon-Soon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.56 no.5
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    • pp.966-972
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    • 2007
  • This paper presents position control of nonlinear three-dimensional crane systems using neural network approach. Such crane system generally includes very complicated characteristic dynamics and mechanical framework such that its mathematical model is expressed by strong nonlinearity. This leads difficulty in control design for the systems. We linearize the nonlinear system model to construct PID control applying well-known linear control theory and then neural network is utilized to compensate system perturbation due to linearization. Thus, control input of the crane system is composed of nominal PID and neural output signals respectively. Our method illustrates simple design procedure, but system perturbation and modelling error are overcome through a neural compensator. As well. adaptive neural control is constructed from online learning. Computer simulation demonstrates our control approach is superior to the classic control systems.

Performance Evaluation of Network Protocol for Protocol for Crane System (자동화 크레인을 위한 네트워크 프로토콜의 성능 평가)

  • Nam Kyoung-Nam;Kim Man-Ho;Lee Kyung Chang;Lee Suk
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.8
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    • pp.709-716
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    • 2005
  • As a way to build more efficient and intelligent container cranes for todays hub ports, communication networks are used to interconnect numerous sensors, actuators, controllers, and operator switches and consoles that are spatially distributed over a crane. Various signals such as sensor values and operator's commands are digitized and broadcast on the network instead of using separate wiring cables. This not only makes the design and manufacturing of a crane more efficient, but also easier implementation of intelligent control algorithms. This paper presents the performance evaluation of CAN(Controller Area Network), TTP(Time Triggered Protocol) and Byteflight that can be used for cranes. Through discrete event simulation, several important quantitative performance factors such as the probability of a transmission failure, average system delay (data latency) and maximum system delay have been evaluated.

Suppression of Load Pendulation Using Tagline Control System for Floating Crane (해상 크레인에 의해 인양되는 중량물의 거동 감쇠를 위한 Tagline 제어 시스템)

  • Ku, Nam-Kug;Cha, Ju-Hwan;Kwon, Jung-Han;Lee, Kyu-Yuel
    • Journal of the Society of Naval Architects of Korea
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    • v.46 no.5
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    • pp.527-535
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    • 2009
  • This paper describes the control system to suppress the load pendulation using tagline for the floating crane. Dynamic equation of motion of the floating crane and the load is derived using Newton's 2nd law and free body model. The floating crane and the load are assumed that they move in center plane. Each rigid body has 3 DOF (surge, heave, pitch), because it moves in two directions and rotates. Then, this system, which is composed of two rigid bodies, has 6 DOF. The gravitational force, the hydrostatic force, the hydrodynamic force and the tension of the wire rope are considered as external forces, which affect to the floating crane. To suppress the pendulation of the load, the tagline, which connects between the load and the float crane, is applied to the system. The tagline is composed of the spring and the wire rope. Proportional and Derivative control is used as a linear control algorithm. The results of the numerical analysis of the 3,600 ton floating crane show that the tagline system is effective to suppress the load pendulation.

Reliability Analysis of Stowage System of Container Crane using Subset Simulation with Markov Chain Monte Carlo Sampling (마르코프 연쇄 몬테 카를로 샘플링과 부분집합 시뮬레이션을 사용한 컨테이너 크레인 계류 시스템의 신뢰성 해석)

  • Park, Wonsuk;Ok, Seung-Yong
    • Journal of the Korean Society of Safety
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    • v.32 no.3
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    • pp.54-59
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    • 2017
  • This paper presents an efficient finite analysis model and a simulation-based reliability analysis method for stowage device system failure of a container crane with respect to lateral load. A quasi-static analysis model is introduced to simulate the nonlinear resistance characteristics and failure of tie-down and stowage pin, which are the main structural stowage devices of a crane. As a reliability analysis method, a subset simulation method is applied considering the uncertainties of later load and mechanical characteristic parameters of stowage devices. An efficient Markov chain Monte Carlo (MCMC) method is applied to sample random variables. Analysis result shows that the proposed model is able to estimate the probability of failure of crane system effectively which cannot be calculated practically by crude Monte Carlo simulation method.

Derivative State Constrained Optimal $H_{2}$ Integral Controller and its Application to Crane System

  • Komine, Noriyuki;Benjanarasuth, Taworn;Ngamwiwit, Jongkol
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2076-2080
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    • 2005
  • Study in this paper concerns the optimal $H_{2}$ integral servo problems for linear crane model systems via the constraints of the derivatives of state variables added to the standard constraints. It is shown in the paper that the derivative state constrained optimal $H_{2}$ integral servo problems can be reduced to the standard optimal $H_{2}$ control problem. The main subject of the paper is to apply the results of derivative state constrained $H_{2}$ integral servo theorem in crane system. The effect of our proposed controller with respect to mitigate an under damping for crane model system is also verified.

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Neural Robust Control for Perturbed Crane Systems

  • Cho Hyun-Cheol;Fadali M.Sami;Lee Young-Jin;Lee Kwon-Soon
    • Journal of Mechanical Science and Technology
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    • v.20 no.5
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    • pp.591-601
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    • 2006
  • In this paper, we present a new control methodology for perturbed crane systems. Nonlinear crane systems are transformed to linear models by feedback linearization. An inverse dynamic equation is applied to compute the system PD control force. The PD control parameters are selected based on a nominal model and are therefore suboptimal for a perturbed system. To achieve the desired performance despite model perturbations, we construct a neural network auxiliary controller to compensate for modeling errors and disturbances. The overall control input is the sum of the nominal PD control and the neural auxiliary control. The neural network is iteratively trained with a perturbed system until acceptable performance is attained. We apply the proposed control scheme to 2- and 3-degree-of-freedom (D.O.F.) crane systems, with known bounds on the payload mass. The effectiveness of the control approach is numerically demonstrated through computer simulation experiments.

Network-Based Overhead Crane Control System Using Matrix Converters (매트릭스 컨버터를 사용한 네트워크 기반 천정형 크레인 제어 시스템)

  • Lee, Hong-Hee;Chun, Tae-Won
    • The Transactions of the Korean Institute of Power Electronics
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    • v.15 no.1
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    • pp.9-16
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    • 2010
  • This paper presents supervisor control methods at a matrix converter controlled overhead crane system based on a controller area network (CAN). Four induction motors are used to drive the gantry, trolley, and hoist at he crane and each motor is controlled by the matrix converter with direct torque control (DTC). Both the position control algorithm and the supervisor control system using CAN are introduced. Simulation and experimental results are carried out to verify the performance of position control at the matrix converter controlled crane system.

The Modelling of Overhead Crane System (천장 크레인시스템의 모델링)

  • Lee, Jong-Gyu;Lee, Sang-Ryong
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.9
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    • pp.166-171
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    • 1999
  • An overhead crane system consists of trolley, girder, rope, object, trolley motor, girder motor, and hoist motor. An analytic model which derived from the modelling of the overhead crane system is nonlinear model which includes the swing and the twist angle of the object. this model consists of the equation of motion for motors and object. If the swing angle and the acceleration of Z for the object are small, this model becomes a simple nonlinear model which doesn't include the swing and the twist angle of the object. From the results of computer simulation, the characteristics of an actual overhead crane system could be predicted by the simple nonlinear model.

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Analysis of Crane Accidents by Using a Man-Machine System Model (인간-기계 시스템 모델에 의한 크레인 사망재해 분석)

  • Park, Jae-Hee;Park, Tae-Joo;Lim, Hyun-Kyo;Seo, Eun-Hong
    • Journal of the Korean Society of Safety
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    • v.22 no.2 s.80
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    • pp.59-66
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    • 2007
  • As the need of handling heavy materials increases, various cranes are used in industries. However, the effectiveness of crane also entails industrial accidents such as falling, constriction etc. In fact, the number of fatal accidents caused by crane is still high in Korea. To find out the causes of the accidents in terms of human error, we developed a man-machine system model that consists of two axes; human information processing and crane life cycle. In the human information processing dimension, we simplified it as five functions; sensing and perception, decision making and memory, response etc. In the crane life cycle dimension, we divided it into nine phases; design, production, operation etc. For the 152 fatal accident records during 1999-2006 years, we classified them into 45 cells made by two axes. Then we identified the preceding causes of the classified crane accident based on performance shaping factors. As the results of statistical analysis, the overall trend of crane fatal accidents was described. For the cause analysis, wrong decision making in work plan phase shows the highest frequency. Next, the poor information input in crane operation followed in accident frequency. In ergonomics view, the problems of interface design in displays and controls made 11.8% of fatal accidents. Following the analysis, several ergonomic design guidelines to prevent crane accidents were suggested.

Development of Monitoring System for Safety Operation of Crane (크레인 안전 운전을 위한 모니터링 시스템 개발)

  • Bae, Young-Chul
    • The Journal of the Korea institute of electronic communication sciences
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    • v.9 no.11
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    • pp.1305-1310
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    • 2014
  • In this paper, the new integrated crane monitoring system that complemented the point at issue for existing crane monitoring system is implemented. The Implementing monitoring system based on wireless communication system, consist of a measuring system of total load currents of main circuit breaker, a temperature and vibration measuring system with temperature sensors and vibration sensors for monitoring an oil and bearing of a main decelerator, a temperature measuring system with temperature sensors of a main motor bearing, and sensors for fire monitoring of an entire electrical space. The measured data from these sensors transmit main controller which is located in external location. Then the Integrating monitoring system is implemented and is performed the performance test to performing diagnosis of motors of a crane.