• Proceedings of the KIEE Conference
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• 2004.10a
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• pp.196-198
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• 2004

In this paper, the container crane which transports containers between a container ship and trucks in the harbor is modeled. The equation of motion is simplified for control purpose. The pole placement technique is used to control the crane to minimize load swing angle The objective of the control is to transfer the load as quickly as possible, while minimizing the amplitude of swing at the end of transfer. Computer simulations are provided.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.62.5-62
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• 2002

The main purpose of this paper is to identify the important parameters and to examine their relations to one another while gantry crane structure was modeled. The important elements of the structural analysis are included, such as the stiffness matrix and its relations to the degrees of freedom, the displacement, and frequency responses. To investigate these relations, the parametric modeling of a dynamic system is solved by using the finite element method (ANSYS-Program). Furthermore, EXPRESS schema and C-FAR (change favorable representation) are described how to change the frame length of gantry crane which influences other elements. Since this relationship is established, the results may...

• 연구논문집
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• s.25
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• pp.99-104
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• 1995

At present, a lot of researches on AS/RS(Automatic Storage and Retrival System) are being performed and also applied to realization of FA, FMS and CIM. Especially facility management and diagnosis of stacker crane that is major equipment of AS/RS, is recognized more importantly. In this paper, Case Base is designed for manager that is non-expert and it is implemented according to possible trouble case for the purpose of trouble diagnosis and maintenance of stacker crane.

• 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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• 2013.06a
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• pp.132-133
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• 2013

Ship salvage crane is to salvage the equipment safely, this type of crane in the shipyard's large ships or port is being used a lot of container etc. Such a salvage crane was installed on the land and it is built to use the harbour facilities. In this paper, the response amplitude operator and the wave exiting force of floating type salvage crane is calculated and it is performed to structural response estimation.

• 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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2009.06a
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• pp.167-168
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• 2009

As the rapid increase of the container trade, most of the container terminals strive to improve the container handling productivity. Therefore, they consider to find efficient operating strategies and to introduce new container handling facilities. In terms of equipment, there are a variety of types of quay cranes. Single-lift crane operates only one container regardless of size and twin-lift crane operates two 20' containers or one 40' container simultaneously. Tandem crane, recently introduced, can operate four 20' containers or two 40' containers simultaneously. In this paper, we propose the mathematical model and the solution procedure of the ship loading scheduling problem for the tandem crane.

• 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.

• Journal of Navigation and Port Research
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• v.30 no.6 s.112
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• pp.525-531
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• 2006

In the port, the yard crane is very important. If a container crane or a transfer crane is broken down, it costs a lot because of the delay of work during the period of repair or reorder. But, we don't have enough spare parts because of the high cost. It is necessary to maintain high reliability of the crane through effective preventive maintenance and failure analysis. In this paper, we analyse the function and failure mechanism of the transfer crane which is a main equipment in the yard Also, we standardize failures and maintenance works using the historical data of failure and maintenance. This study which is a basic work for effective equipment operation and maintenance will support reliability engineers to decide the optimal design of the next generation equipment and operational policy of equipment.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.27 no.5
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• pp.379-384
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• 2014

This article describes the dynamic behaviors of a rubber tired gantry crane(RTGC) under typical load conditions which are used in the design of gantry cranes. In order to investigate the dynamic characteristics of an RTGC, we developed a finite element crane model for its huge structure. The finite element model was validated with the modal test results, e.g., natural frequencies and normal modes. And other components of RTGC were converted into detailed 3D CAD models and finally transformed to rigid body models in a dynamic simulation program ADAMS. The load conditions considered in this paper were a normal operating condition(OP1) and container hanging condition with no external loads. As a result, we could find there was large influence of crane's vibration owing to its structural stiffness and deformation. And the vibration of crane could made the movements of RTGC, which occurs crash or malfunction of crane works.