A Study on the Tracking Control of a Transfer Crane with Tire Slip

슬립을 고려한 트랜스퍼 크레인의 주행제어에 관한 연구

  • 정지현 (부경대학교 대학원 제어기계공학과) ;
  • 이동석 (부경대학교 대학원 제어기계공학과) ;
  • 김영복 (부경대학교 기계시스템공학과)
  • Received : 2010.06.28
  • Accepted : 2010.10.13
  • Published : 2010.12.01


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.


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