• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.428-431
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• 2002

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. ropes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And main schemes are introduced and explained briefly.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1992-1996
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• 2005

An automated mechanical parking system with a dedicated multi-floor building has been studied for improvements. Among the major components of the system, study is focused on the trolly which is the most important to the overall reliability of the system. The trolley holds and moves a parked vehicle horizontally into a specified position for the next sequence of operations. Optimization of a trolly structure is presented for strength and simplicity. With optimization, the weight has been reduced by 30% with respect to the conventional design.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.04a
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• pp.64-71
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.143-151
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Proceedings of the KIEE Conference
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• 2006.11a
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• pp.381-383
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• 2006

A de-wiring trolley wire usually makes the electrical system complex and may have an adverse effect on the electrical system inside the train. It is important to analyze the effect on trains in de-wiring trolley wire. we accomplished an equivalent model of the electric train system. We used PSCAD/EMTDC, an electromagnetic transient program. The result of this study can be used as a facility design to use a power conversion system filter and needs to prove through actual field data in the main circuit of an electric train for a precise analysis about effect of de-wiring.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.630-639
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• 1999

To achieve fast loading and unloading of containers from a container ship, quick suppression of the remaining sway motion of the container at the end of each trolley stroke is crucial. Due to the pendulum motion of the container and disturbances like sind, residual sway always exists at the end of trolley movement. In this paper, the sway-control problem of a container crane is investigated. A two-stage control is proposed. The first stage is a time optimal controlfor the purpose of fast trolley traveling. The second stage is a nonlinear control for the quick suppression of residual sway, which starts right after the first stage while lowering the container. The nonlinear control is investigated in the perspective of controlling an underatuated mechanical system, which combines partial feedback linearization to account for the known nonlinearities as much as possible, and variable structure control to account for the unmodeled dynamics and disturbances. Simulation and experimental results are provided.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.446-449
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• 1997

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.730-735
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• 2005

In this thesis, As electric railway vehicle's speed becomes faster and faster and functional, the conditions of operation (or running condition) of the vehicle also become complicated and diverse. As the number of electric vehicle increases by enhancement of the running condition, problems are also raised in circulation current, vibration and unstable contact caused by equipment(sporting part for making horizontal between Trolley wire and Messenger wire) and troubles in Ark by un secure contact. This articles shows a method to prevent or to have least problem of vibration, and unstable contact by having constant height of Trolley wire through adjusting the length of Hanger.

• Journal of Ocean Engineering and Technology
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• v.19 no.5 s.66
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• pp.58-64
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• 2005

In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.