• 전산구조공학
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• 제4권4호
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• pp.24-28
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• 1991

본 연구용역에서는 반도기계주식회사의 의뢰에 의거하여 Manbridge Crane의 지진하중에 대한 구조물의 안전성을 평가하였다. 구조해석은 유한요소 모형을 사용하여 사하중, 활하중 및 OBE(Operating Basis Earthquake)와 SSE(Safe Shut-down Earthquake)의 지진하중에 관한 해석을 수행하였다. Crane설치지점의 층응답스펙트럼을 입력으로 한 응답스펙트럼해법으로 지진해석을 수행하였다. Trolley의 위치와 정격하중의 유무에 따라서 5개의 구조모형을 작성하여 해석을 수행하였으며, 지진해석에는 35개의 자유진동모드가 고려되었다. 구조해석을 통하여 1) 구조부재의 과도응력 발생여부, 2) 보강재의 좌굴 가능성, 3) Hoist Rope의 안전성, 4) Crane의 전도의 가능성 및 Seismic Lug의 안전성, 5) 지진하중에 대한 제동력, 6) Crane의 주행 Rail로부터의 탈선여부, 7) Traversing Rail의 수직처짐, 8) 주행 Rail 및 End Stopper의 Anchor Bolt의 안정성, 9) Fuel Basket과 Handrail의 안전성을 검토하였다. 해석결과를 바탕으로 설계시방서에서 제시한 모든 설계요구조건을 만족시킬 수 있도록 수직 Frame의 보강부재를 보강하고, Hoist Rope 용량을 증가시키도록 제안하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제23권5호
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• pp.630-636
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• 1999

In this paper in optimal modulation controller for position control and anti-sway of container crane systems is designed by a recursive algorithm that determines the state weighting matrix Q of a linear quadratic performance. The optimal modulation controller is based on optimal control. The basic feature of the recursive algorithm is the reduction of the number of iterations as well as minimization of the calculations involved So in order to obtain a mathematical model which rep-resents the equation of motion of the trolley and load Lagrange equation is used. The optimal modulation controller has been verified and simulated to show that it is robust when a load dis-turbance is applied and a reference is changed.

• International Journal of Control, Automation, and Systems
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• 제2권4호
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• pp.435-449
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• 2004

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2002년도 춘계학술대회논문집
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• pp.219-227
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• 2002

In this paper, we designed neural network predictive PID controller to control sway happened in transfer of trolley for automatic travel control system. We include dynamic character of nonlinear system, and mathematical expression veny simple used neural network. When various establishment location and surrounding disturbance were approved based on mathematical modelling of crane, controller designed to become effective control location error and vibration angle of two control variables that simultaneously can predictive control. Neural network predictive PID controller produced parameter of PID controller using neural network self-tuner. Neural network self-tuner's input used crane's output and neural network predictive output. Neural network self-tuner using error back propagation algorithm. We analyzed control performance comparison through computer simulation when applied disturbance about sway of location and angle in transfer of crane. The results show that the proposed neural network predictive PID controller has better performances than general PID controller, neural network PID controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2473-2475
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• 2000

In this paper, we design a GA-fuzzy controller for position control and anti-swing at the destination point. Applied genetic algorithm is used to complement the demerit such as the difficulty of the component selection of fuzzy controller, namely, scaling factor, membership function and control rules. Lagrange equation is used to represent the motion equation of trolley and load in order to obtain mathematical modelling.

• 한국생산제조학회지
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• 제21권1호
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• pp.109-115
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with load hoisting. The proposed control law improves the positioning accuracy but also the sway suppression through fast stabilization of the under-actuated sway dynamics, which is based on a class of feedback linearizing control incorporated with an additional control including the sway angle and its rate as well as positioning errors and their rates. For the design of the additional control, a variable structure control with the proper sway damping and simple switching action is employed, thus preventing excessive overshoots of the trolley travelljng and effectively suppressing the residual sway of container arrived at the target position. Simulation results are provided to show effectiveness of the proposed controller in the presence of such uncertainties as winds and the variation of payload weights.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2000년도 춘계학술대회 논문집
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• pp.598-605
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• 2000

The design of a current collection system of high speed train requires the fundamental understandings fer the dynamic characteristics of a catenary system and pantograph. The stiffness of the catenary system of high speed train has the varying characteristics for the change of the contact point with a pantograph, since the supporting pole and hanger make the different boundary conditions for the updown stiffness of a trolley wire. The variation of stiffness results in Mathiue equation, which characterizes the stability of the system. However, the two terms variation of the stiffness due to span length and hanger distance cannot be solved analytically. In this paper, the stiffness variations are calculated, and the physical reasoning of linear model and one term Mathieu equation are reviewed. And the numerical analysis for the two term variation of the stiffness is done for the several design parameters of the pantograph.

• 한국철도학회논문집
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• 제8권6호
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• pp.525-532
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• 2005

Fatigue life of catenary wires in various environments is reduced when stress is concentrated on some points, which are often found in corroded areas by surrounding pollutants. Therefore, the fatigue test were performed in order to investigate the effect of the surface corrosion on the destructive behavior in service environment and accelerated corrosion environment as well as th examine the corrosive property and mechanism of the catenary wires. In the fatigue test of the messenger stranded wire, the corrosion degraded materials showed 35~50% of fatigue life at a same stress amplitude compared to original material. Because the catenary wires have variable load by the interaction of periodic contacts with pantographs the maximum stresses of trolley wire and messenger wire calculated by simulation at the messenger wire during operation was estimated thought the corrosion behavior interpretation of variable stress and fatigue test.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2002년도 춘계학술대회 논문집
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• pp.498-502
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• 2002

Section insulators are indispensible devices for the electric railways, which divide electrical connections between the trolley lines without losing mechanical connections, and this means that they should have both good electrical insulation performance and mechanical performance for pantograph interaction. This paper reviews some technical aspects of the several type section insulators and makes analysis of difficulties during operation. The closed type section insulators are proposed for newly electrified railways, because they have good mechanical and electrical performances for high speed trains up to 200[km/H]. Technical specifications of closed-type section insulators based on survey of the advanced technologies are provided, and also the neutral section configuration method which might be the best solution for newly electrified railways in Korea of 200km/H speed.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.397-402
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• 1998

PID controller has been used very widely in the industrial applications. But it is difficult tune the PID gains. In this paper, we present a design of optimal 2-DOF PID controller for control of container crane which has to control swing motion and trolley position. For tuning of the 2-DOF PID control gains, we used hybrid evolution program(EP). During operate the crane system in yard, the goal 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 accuracy and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.