• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.6
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• pp.1391-1401
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• 1995

This paper addresses design procedure and testing results of a closed-loop motion control of the cranes. When the object is stopped at the desired position, swinging occurs, and such swinging deteriorates the safety and efficiency of the operation of the crane. Therefore, in this paper, the cascade anti-swing and trolley position feedback controller are designed. Anti-swing controller rapidly eliminates swinging of object and position feedback controller reduces the trolley position error. The performance of this controller is investigated through the computer simulation and experiment. From the results of a series of computer simulations and experiments it can be concluded that proposed controller effectively reduces swinging of the object and trolley position error, which shows this controller can be used as an effective tool for the precise control of overhead cranes.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.292-297
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• 1990

An anti-swing controller for an overhead crane in the stop position is designed. The developed anti-swing controller improves on the poor damping characteristics of overhead crane by feeding back the crane acceleration as a function of swing angular speed. The experimental results show that this crane using the proposed controller yields small stop position error and rapid damping response characteristics.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.142-142
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• 2000

During the operation of crane system in container yard, it is necessary to control the crane trolley position so that the swing of the hanging container is minimized. Recently an automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the crane system with disturbances. In this paper, Ive present the neural network two degree of freedom PID controller to control the swing motion and trolley position. Then we executed the computer simulation to verify the performance of the proposed controller and compared the performance of the neural network PID controller with our proposed controller in terms of the rope swing and the precision of position control . Computer simulation results show that the proposed controller has better performances than neural network PID with disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.277-281
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• 1996

The roof crane system is used for transporting a variable load to a target position. At this time, the goal of crane system is transporting to a goal position as soon as possible with no rope oscillation. Generally crane is operated by expert's knowledge, but recently automatic control with high speed and rapid transportation is required. In this thesis we developed fuzzy controller of crane which has simplified expert's knowledge base for anti-swing and rapid tansportation to goal position.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.9
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• pp.2399-2411
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• 1995

Crane operation for transporting heavy loads inherently causes swinging motion at the loads due to crane's acceleration or deceleration. This motion not only lowers the handling safety but also slows down the handling process. To complement such a problem, Korea Atomic Energy Research Institute(KAERI) has designed several anti-swing controllers using open loop and closed loop approaches. They are namely a pre-programmed feedback controller and a fuzzy controller. These controllers are implemented on a 1-ton crane system at KAERI and their control performances are compared. Test operations show that the new controllers are superior to that of conventional cranes in terms of robustness to the disturbances and adaptation capability to the change of rope length.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.159-167
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• 2000

During the operation of crane system in the container yard, it is necessary to control the crane trolley position so that the swing of the hanging container is minimized. Recently an automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the crane system with disturbances and weight change. In this paper, we present the neural network two degree of freedom PID controller to control the swing motion and trolley position. Then we executed the computer simulation to verify the performance of the proposed controller and compared the performance of the neural network PID controller with our proposed controller in terms of the rope swing and the precision of position control. Computer simulation results show that the proposed controller has better performances than neural network PID with disturbances.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.213-214
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• 2010

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.435-442
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• 1997

The roof crane system is used for transporting a variable load to a target position. The goal of crane control system is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid tansportation is required. In this paper, we developed a simple fuzzy controller which has been introduced expert's knowledge base for anti-swing and rapid tranportation to goal position. In particular, we proposed the synthesis reasoning method which synthesizes on the basis of expert knowledge of the angle control input and position control input which are inferenced parallel and simultaneously. And we confirmed that the performance of the developed controller is effective as a result of applying it to crane simulator and also verified whether the proposed synthesis rules have been applied correctly using clustering algorithm from the measured data.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.96-101
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• 1996

In this paper, a simulator is designed along with S/W package for crane controllers. Due to trolley's acceleration or deceleration, cranes inherently cause swing motion of the objects in transporting heavy objects. This swing not only deteriorates the crane handling safety but also increases the processing time. To overcome these drawbacks, the fuzzy rule-based simulator is developed with inhibitory swing at final action. The computer simulation shows that the swing at initial and final positions is removed fast with small position error. The proposed simulator can be used for handling object stabley and the study of effectiveness in unmanned operation of cranes.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1022-1032
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• 2000

We propose a sliding mode controller tracking the states of a time-varying reference model. The reference model generates the desired trajectories of the states, and the sliding mode controller regulates robustly the errors between the desired states and the measured states. We apply this controller to the overhead crane. Its reference model generates the trajectories of the damped-out swing angle and the swing angular velocity to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. Also, this model generates the desired trajectories of the position and velocity of the crane. The crane model is identified from the experimental data using an orthogonal function. Kalman filtering is applied to estimate the crane states. The designed controller is simulated on a computer and is tested through a 2-ton industrial overhead crane using the vector-controlled servo motor system. It is verified that, from the simulated and experimental results, the sliding mode controller tracking a time-varying reference model works well.