• 한국산업융합학회 논문집
• /
• 제2권2호
• /
• pp.165-172
• /
• 1999

Crane operation for transporting heavy loads causes swinging motion at the loads. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane is derived. and the feedback gain matrix based on the pole-placement method is proposed to supress the swing motion and control the position of the crane. The performance of the controller for the crane model is simulated on the personal computer.

• 동력기계공학회지
• /
• 제8권1호
• /
• pp.55-61
• /
• 2004

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion.

• 대한기계학회논문집A
• /
• 제25권9호
• /
• pp.1468-1474
• /
• 2001

In this paper, a new fuzzy-logic anti-swing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control the trolley position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of trolley position and rope length for the simultaneous travel, traverse, and hoisting motions of the crane. The effectiveness of the proposed control is shown by experiments with a prototype three-dimensional overhead crane.

• Journal of Advanced Marine Engineering and Technology
• /
• 제32권4호
• /
• pp.624-629
• /
• 2008

This paper presents a scheme for designing a state observer for container cranes. If the system is completely observable with a given set of outputs, then it is possible to determine the states that are not directly measured. We consider the reduced-order states observer with only trolley position detection and with trolley position and container angle detection. The gain matrix of the each state observer is adjusted using a RCGAs. A set of simulation works is carried out to demonstrate the effectiveness of the proposed scheme.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2003년도 추계학술대회 논문집(III)
• /
• pp.523-528
• /
• 2003

AS City traffic means, the electric railway of the role is overwhelming with recognizing good merits of safety, no environment disruption and accurate destination time. Currently, Korea subway are running about 290km through eight subway lines. The latest constructed subway had been made by imperoved matherials which is going on improving. Therefore, we researched this project to keep up facilites easily, repress a leakge current and reduse install cost and repair time in changing facility at overhead Contact wire system because of arc by reforming construction plan about Expansion Joint and Air Section which is regarded as weak point when facilities are fixed and maintianed of Rigid Trolley bar System. as above we can contribute various part to making useful O.C.S(overhead contact wire system)

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2003년도 추계학술대회 논문집 전력기술부문
• /
• pp.59-61
• /
• 2003

This paper demonstrates an analysis of harmonics at the high speed railway substation and proved on this countermeasure using the PSCAD/EMTDC simulation tool. First, high speed railway feeding system is composed using PSCAD/EMTDC electrical railway feeding system model in advance. Second, This paper applications line capacitance values as feeder-trolley, trolley-rail and feeder-rail to analysis harmonics more accuracy in advance did not application. This capacitance values calculate using the EMTP(Electro Magnetic Transient Program). Third, the tractions are arranged in the section that substation supplies power, and this paper take the simulation each case(fractions composition amount) to see harmonic propagation from traction to substation. As a result, generated harmonics at traction can confirmed that harmonics did not reduce at utility source. This harmonics have an influence on bulk power system. Finally, this paper introduces the methods of harmonics effect minimum. This paper proved harmonics reduce effect through the passive filters application.

• 한국항만학회지
• /
• 제14권4호
• /
• pp.395-406
• /
• 2000

In this paper, an improved high efficiency gantry crane for container transportation is designed. The basic concept of the designed crane can be used with modification of the classical gantry crane instead of changing lots of them. This crane can reduce the cycle time more than the classical gantry carne. The high efficiency gantry crane can improve the productivity of the container transportation job because of reducing cycle time. The loading and unloading capability are compared with classical crane. The result show that show that the proposed crane has better performances than classical type.

• 전산구조공학
• /
• 제5권2호
• /
• pp.5-11
• /
• 1992

크레인에 대한 내진해석 결과 구조부재의 응력, trolley의 반력, girder의 처짐 및 hoist rope의 인장력이 안전측임을 확인하였다. 또한 크레인 정착부의 설계에 필요한 정착하중을 구할 수 있었으며, 이에 근거하여 정착부의 간격과 부재의 변경을 제안하였다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
• /
• 한국우주과학회 2007년도 한국우주과학회보 제16권2호
• /
• pp.104-104
• /
• 2007

• 한국해양공학회지
• /
• 제19권3호
• /
• pp.66-73
• /
• 2005

The sway motion control problem of a container hanging on the trolley is considered in this paper. In the container crane control problem, the main issue involves suppressing the residual swing motion of the container at the end of acceleration, during deceleration, or for an unexpected disturbance input. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system, in which a small auxiliary mass is installed on the spreader. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. In many cases, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called "Structure/Control Simultaneous Method" is used. From this, in this paper the simultaneous design method is used to achieve optimal system performance. And the experimental result shows that the proposed control strategy is useful, to the case of that the controlled system is exposed to the uncertainties and, robust to disturbances like wind.