• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.48.5-48
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• 2002

$\textbullet$ Contents 1 Introduction $\textbullet$ Contents 2 Crane Description $\textbullet$ Contents 3 Self-tuning Controller Design $\textbullet$ Contents 4 Result of Experiments $\textbullet$ Contents 5 Conclusions $\textbullet$ Contents 6 References

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.2
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• pp.49-57
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• 2003

In this paper, is proposed an anti-swing control algorithm for the automation of overhead crane. The algorithm consists of three parts, the FCL with compensatory FLC which generates acceleration, velocity and position reference to reduce swing angle and acceleration feedback controller which feedback control errors. Especially the algorithm dose not need angular sensor which detect swing angle of payload and requires high cost. By the simulation study and experiment with prototype crane, we showed the usefulness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.260-265
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• 1989

The micro-computer based automatic control of the overhead crane system is designed. Two control methodologies were suggested; the one is the anti-swing controller which improves poor damping characteristics of the crane and the other is the stop-position controller which minimizes the transportation position error. The input speed profile is automatically determined by the pre-programmed digital control algorithm. The experimental results show that these proposed controllers have excellent control performance as compared with those of the uncontrolled crane system.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.2
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• pp.11-19
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• 2012

Crane systems have been widely used for transportation in building sites, ports, nuclear wastehandling operation and so on. As a typical underactuated system, an overhead crane has such merits as high flexibility and less energy consumption. And it's getting more types of cranes, universally applicable algorithms should be developed. That is the design and development of scalable algorithms are required. Developed algorithms can be used for the controller and crane overload protection that meets the requirements of the algorithm are presented. These algorithms force the state to warn the operator and stops the operation of equipment. In this paper, crane overload conditions that can cause damage to alert the operator, and to limit the operation of equipment overload protection algorithm is presented.

• Journal of Drive and Control
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• v.16 no.2
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• pp.8-14
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• 2019

A typical gantry crane is generally used to lift and transport objects in various workplaces. Most of the supporting structures in a gantry crane are fixed on the ground while the moving hoist is running overhead along the girder. There are some disadvantages to its long installation time and high installation cost. Therefore, a hydraulic based gantry crane was studied to solve the issues of typical gantry cranes. The supporting structure of the proposed gantry crane consisted of a hydraulic cylinder and telescopic boom. The dimension of the proposed gantry crane can be decreased due to its simplified structure. The analytical and theoretical methods were used to verify the structural stability of the proposed crane. The most severe load condition was considered for the analysis, and the stress and deflection of the structure are analyzed. The simulation results were as expected from the theoretical analysis. Finally, the structural and dynamic safety of the proposed hydraulic based gantry crane was validated. The obtained results can be used as guidelines in the design process of the hydraulic based gantry crane.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.6
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• pp.907-917
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• 1997

The purpose of this study is to design an anti-sway motion for industrial overhead cranes which transport objects on a horizontal plane by adjusting movements of a trolley motor and a girder motor. The movement of a hoist motor has not been considered at this time since its role was assumed to move objects only vertically, therefore, not to affect the swing motion of objects. The dynamic behavior of the swing motion shows nonlinear characteristics, which makes the design of anti-sway motion controller difficult. First of all, the nonlinear state equation for the motion of industrial overhead cranes has been derived. Then they have been linearized about normal operating states determined by the dynamic characteristics of motor motion-acceleration, constant speed, and deceleration, and deceleration, during transportation. The partial state feedback control algorithm based on this linearized state equation has been developed on order to suppress the swing motion. The simulation results have demonstrated satisfactory performance of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1871-1875
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• 1997

Crane operation is manually accomplished by skilled operators. Recently, the concept of automation is widely introduced in shipping and unloading operation using the overhead crane for the enhanced productivity. In this regards, we designed an angle detector and 3D position detectro which are key evices for this operation. As well as an intellignet control algorithm is developed for the implementation of swing free crane. The performance of the presented algorithm is tested for the swing angle and the position of the overheas crand. The control scheme adopts a feedback control of an angular velocity of swing in initial phase and then the fuzzy controller whose rule base is optimized by a genetic algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.1
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• pp.102-108
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• 2008

This paper presents robust and adaptive control method for complicated three dimensional crane systems with uncertain effect. We consider an overhead crane system in which a trolly located on its top is moved to x- and y-axis independently. We first approximate the complicated crane model through linearization approach to simply construct a PD control and then design an adaptive control system for compensating modeling error and control deviation which is feasibly occurred due to system perturbation in practice. An adaptive control scheme is analytically derived using Lyapunov stability theory for a given bound of system perturbation. We accomplish numerical simulation for evaluation of the proposed control system and demonstrate its superiority comparing with the traditional control strategy.

• Structural Engineering and Mechanics
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• v.61 no.4
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• pp.475-481
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• 2017

An overhead travelling crane structure of two doubly symmetric welded box beams is designed for minimum cost. The rails are placed over the inner webs of box beams. The following design constraints are considered: local buckling of web and flange plates, fatigue of the butt K weld under rail and fatigue of fillet welds joining the transverse diaphragms to the box beams, fatigue of CFRP (carbon fibre reinforced plastic) laminate, deflection constraint. For the formulation of constraints the relatively new standard for cranes EN 13001-3-1 (2010) is used. To fulfill the deflection constraint CFRP strengthening should be used. The application of CFRP materials in strengthening of steel and concrete structures are widely used in civil engineering applications due to their unique advantages. In our study, we wanted to show how the mechanical properties of traditional materials can be improved by the application of composite materials and how advanced materials and new production technologies can be applied. In the optimization the following cost parts are considered: material, assembly and welding of the steel structure, material and fabrication cost of CFRP strengthening. The optimization is performed by systematic search using a MathCAD program.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.12
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• pp.57-64
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• 2007

There have been many researches for optimal controllers in multivariable systems, and they generally use accurate linear models of the plant dynamics. Real systems, however, contain nonlinearities and high-order dynamics that may be difficult to model using conventional techniques. Therefore, it is necessary a PID gain tuning method without explicit modeling for the multivariable plant dynamics. The PID tuning method utilizes the sign of Jacobian and gradient descent techniques to iteratively reduce the error-related objective function. This paper, especially, focuses on the role of I-controller when there is a steady state error. However, it is not easy to tune I-gain unlike P- and D-gain because I-controller is mainly operated in the steady state. Simulations for an overhead crane system with dynamic friction show that the proposed PID-LC algorithm improves controller performance, even in the steady state error.