• Journal of Power System Engineering
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• v.7 no.4
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• pp.74-81
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• 2003

An LQ controller design method is proposed for effective anti-sway control of boom type crane in this paper. It is important for high productivity that the sway of a load is controlled as fast as possible when the trolley arrives to the destination with maximum velocity. To prove the effectiveness of the proposed LQ controller. simulations and experiments using the boom type crane as experimental device is carried out. Tracking performance for a step type reference and robustness for the change of working environment such as the change of load weight and parameters produced by a wire rope and disturbance by the wind arc proved by the experiment. It will be examined that boom type crane can be applied to industrial fields through experiment in this paper.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2000.05a
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• pp.28-35
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• 2000

For the merit of a container in transportation and cargo handling the amount of container freight has been continuously on the increase. On the other hand container crane had got the bottle neck in cargo handling due to low productivity so that freight congestion had been often occurred at ports. in this paper A mathematical model for container crane system is represented a method for designing a fuzzy controller of container crane system for high productivity in cargo handling is presented. The fuzzy controller is compared with other optimal controller at the same condition. in the computer simulation the fuzzy controller obtained an excellent response to reference change better than the optimal controller. For disturbance such as a strong storm and parameter change due to change of cargo weight the result was also stable and robust than the optimal controller.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.10a
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• pp.145-151
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• 1998

This paper is aimed to handle quick work for all the workers and to improve the productivity by adding more effective content in Crane Monitoring System. This contributing proportion of the increase of port productivity is more increasing concerning not only the port industry, but also all the informations of container crane which is the representative equipment by the rapid increase of the volume of freight of port. The basic of rapid service is the improvement of the productivity, the information of operation as to the productivity of crane for the quick handling within yard and especially the informations of breakdown and to handle breakdown as soon as possible has a greate effect on the increase of productivity.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.8
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• pp.131-139
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• 1995

In this study, small size stacker Crane for automatic ware house and interface circuit is designed and manufactured. IBM-PC is used as a controller. At 50kg$_{f}$ load, optimal motion velocity is 20 mm/min for X and Y axis and 12 mm/min for Z axis. Position fesolution is 0.005 mm and repeatability is .+-. 0.025 mm. Through characteristic experiment, effectiveness of the designed and manufactured stacker crane. PC control program, and design of interface circuit and construction of control system are shown. From these results, the developed stacker crane can be apply to FMS(Flexible Manufacturing System) and FA(Factory Automation) of industrial field.d.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.281-287
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• 2001

In this paper, we deal with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry cranes characteristics, the system is decentralized into two subsystems, the travelling and swaying subsystem and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using the observability canonical form. The decentralized subsystems include unknown inputs that one coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques. And those estimated values are used to construct an input compensation form. Finally, the proposed decentralized control scheme for the gantry crane systems is verified by crane simulation.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2788-2790
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• 2002

In this paper, we designed neural network predictive two degree of freedom PID controller to control sway of crane Crane's trolley arrive minimum oscillation of transfer body and establishment position in minimum time. When various establishment location and surrounding disturbance were approved based on mathematical modeling of crane, controller designed to become effective control location error and oscillation angle of two control variables that simultaneously can predictive control. We wish to develop automatic travel control system through anti-sway skill of crane.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.03a
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• pp.219-227
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• 2002

In this paper, we designed neural network predictive PID controller to control sway happened in transfer of trolley for automatic travel control system. We include dynamic character of nonlinear system, and mathematical expression veny simple used neural network. When various establishment location and surrounding disturbance were approved based on mathematical modelling of crane, controller designed to become effective control location error and vibration angle of two control variables that simultaneously can predictive control. Neural network predictive PID controller produced parameter of PID controller using neural network self-tuner. Neural network self-tuner's input used crane's output and neural network predictive output. Neural network self-tuner using error back propagation algorithm. We analyzed control performance comparison through computer simulation when applied disturbance about sway of location and angle in transfer of crane. The results show that the proposed neural network predictive PID controller has better performances than general PID controller, neural network PID controller.

• Journal of Electrical Engineering and Technology
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• v.11 no.4
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• pp.1027-1034
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• 2016

This paper proposes a sum of squares (SOS) method for anti-swing control of overhead crane system using HOSM (High-Order Sliding-Mode) observer. By representing the dynamic equations of overhead crane as the polynomial dynamic equations via Taylor series expansion, the control input is obtained from the converted polynomial dynamic equations by numerical tool SOSTOOL. Since the actual crane systems include disturbance such as wind and friction, we propose a method to compensate for the disturbance by estimating the disturbance using HOSM observer. Numerical simulations show the effectiveness and the applicability of the proposed method.

• Journal of Power System Engineering
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• v.7 no.1
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• pp.51-59
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• 2003

The recent amount of container freight continuously has been increased, but the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. It is required that the working velocity and safety are improved by control of moving the trolley as quick as possible without large overshoot and any residual swing motion of container at the destination. In this paper, a LQ Fuzzy controller for a container crane is proposed to accomplish an optimal design of improved control system for minimizing the swing motion at destination. In this scheme a mathematical model for the system is obtained in state space form. Finally, the effectiveness of the proposed controller is verified through computer simulation.

• Journal of the Korean Society of Safety
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• v.25 no.6
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• pp.60-64
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• 2010

The purpose of this study if to prevent dangerous accident of the overthrow of the tower crane in summer's hurricane. We develop the SMS in order to give automatic alarm system to operator within the dangerous range and to give a information of the exactly slope in the real time. The slope value of the tower crane is compose of direction, pitch by the front and rear, roll by the right and left and synthesis by the its pitch and roll. Especially, the synthesis eliminate the effect of the wall tie or wire bracing. So, this value should correctly indicate the actual slope. In this study, more applying field test should be applied with the SMS. In the future, a more measurement device can be applied to, and be able to feed more alarm criteria for the review of the risk in the field.