# 슬립을 고려한 트랜스퍼 크레인의 주행제어에 관한 연구

• 정지현 (부경대학교 대학원 제어기계공학과) ;
• 이동석 (부경대학교 대학원 제어기계공학과) ;
• 김영복 (부경대학교 기계시스템공학과)
• Accepted : 2010.10.13
• Published : 2010.12.01

#### Abstract

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

#### References

1. Y. B. Kim and Y. S. Son, “A study on the development of residual sway motion control system for the container crane,” Journal of Ocean Engineering and Technology, vol. 14, no. 4, pp. 35-42, 2000.
2. Y. B. Kim and Y. G. Jung, “A study on the sway control of a container crane based on H$_{\infty}$ Gain-scheduling approach,” Journal of Control, Automation and Systems Engineering, vol. 7, no. 7, pp. 559-556, 2001.
3. K. H. Kim, Y. J. Lee, J. W. Lee and K. S. Lee, “A design and characteristics analysis of high efficiency gantry crane,” Journal of Korean Port Research, vol. 14, no. 4, pp. 395-406, 2000.
4. C. H. Park, K. T. Park, D. H. Kim and Y. J. Shin, “A study on sway control of yard container crane,” Proceedings of the 2000 Korean Institute of Navigation and Port Research Conference, pp. 143-151, 2000.
5. D. S. Han, J. W. Lee, J. T. Min and K. S. Lee, “A study on anti-sway of crane using Neural Network predictive PID controller,” Proceedings of the 2002 Korean Institute of Navigation and Port Research Spring Conference, pp. 219-227, 2002.
6. S. R. Lee, J. G. Ahn, Y. H. Lee, J. K. Son and M. O. So, “RCGA-based states observer design of container crane concerned with design specification,” Journal of Korean Navigation and Port Research, vol. 32, no. 10, pp. 851-856, 2008. https://doi.org/10.5394/KINPR.2008.32.10.851
7. S. J. Lee, H. Park and K. S. Hong, “Sliding-mode control of container crane,” Journal of Korean Navigation and Port Research, vol. 29, no. 8, pp. 747-753, 2005. https://doi.org/10.5394/KINPR.2005.29.8.747
8. C. W. Kim, K. S. Hong, and G. Lodewijks, “Anti-sway control of container cranes : An active mass-damper approach,” Proc. of SICE Annual Conference, pp. 939-944, 2004.
9. Y. B. Kim, D. H. Kim, J. S. Jang, and G. Zhai, “Gain-scheduling approach to mass damper type anti-sway system design,” Proc. of the 16th IFAC World Congress, We-A04-TP-7, 2005.
10. H. H. Lee, “A new design approach for the anti-swing trajectory control of overhead cranes with high-speed hoisting,” International Journal of Control, vol. 77, no. 10, pp. 931-940, 2004. https://doi.org/10.1080/00207170412331270550
11. Y. B. Kim, J. H. Suh and K. S. Lee, “Modelling and accurate tracking controller design of a transfer crane,” Journal of Ocean Engineering and Technology, vol. 20, no. 6, pp. 114-122, 2006.
12. Y. B. Kim, M. S. Choi, J. H. Suh and K. S. Lee, “A study on the tracking control of a transfer crane : observer design and experimental study,” Journal of Control, automation and Systems Engineering, vol. 13, no. 1, pp. 26-32, 2007. https://doi.org/10.5302/J.ICROS.2007.13.1.026
13. Y. Fujisaki and M. Ikeda, “Synthesis of two-degree-offreedom servosystems,” Trans. of SICE of Japan, vol. 27, no. 8, pp. 907-914, 1991. https://doi.org/10.9746/sicetr1965.27.907
14. Y. B. Kim, M. Ikeda, and Y. Fujisaki, “Robust stability and high-gain integral compensation of two-degree-offreedom servosystem,” Trans. of SICE of Japan, vol. 32, no. 2, pp. 180-187, 1996. https://doi.org/10.9746/sicetr1965.32.180

#### Cited by

1. A study of the tracking control of an transfer crane using nonholonomic constraint vol.14, pp.10, 2013, https://doi.org/10.1007/s12541-013-0237-1