Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지

An Experimental Study on the Accurate Tracking Control of a Transfer Crane Based on the 2DOF Servosystem Design Approach

트랜스퍼 크레인의 고정도 주행제어에 관한 연구 : 2자유도 서보계 설계법을 이용한 제어계 설계 및 실험적 연구

  • 김영복 (부경대학교 공과대학 기계공학부) ;
  • 이권순 (동아대학교 공과대학 전기공학과) ;
  • 한승훈 (동아대학교 대학원)
  • Published : 2006.10.31
Download PDF
⟨ Previous Next ⟩

Abstract

The most important thing in acontainer terminal is to handle the cargo effectively in the limited time available. To achieve this objective, many strategies have been introduced and applied. To create an automated container terminal, it is necessary for the cargo handling equipment to be equipped with more intelligent control systems. From the middle of the 1990's, automated rail-mounted gantry cranes (RMGC) and rubber-tired gantry cranes (RTG) have been widely used to handle containers in yards. Recently, many pieces of equipment, like CCD cameras and sensors, have beenmounted in these cranes to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes, which allow for more effective cargo handling in yards. For this purpose, the modeling, tracking control, anti-sway system design, skew motion suppressing, and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modeling and a new tracking control approach are discussed, and an experimental study is performed based on a two-degree-of-freedom (2DOF) servosystem design.

Keywords

References

  1. 김영복, 손유식 (2000). '컨테이너 크레인의 흔들림 방지장치 개발에 관한 연구', 한국해양공학회지, 제14권, 제4호, pp 35-42
  2. 김영복, 정용길 (2001). '$H_{\infty}$ Gain-Scheduling 기법을 이용한 컨테이너 크레인의 흔들림 제어에 관한 연구', 제어.자동화.시스템공학논문지, 제7권, 제7호, pp. 559-556
  3. 김영복, 채규훈 (2003). '크레인 스프레더의 Swing Motion 제어에 관한 연구', 한국동력기계공학회지, 제7권, 제3호, pp 54-60
  4. 김영복, 문덕홍, 양주호, 채규훈 (2005). '동시최적화 설계기법을 이용한 항만용 크레인의 흔들림 제어계 설계', 한국해양공학회지, 제19권, 제3호, pp 66-73
  5. 박경택, 박찬훈, 김두형, 신영재 (2004). '자동화 컨테이너 터미널을 위한 컨테이너 트랜스퍼 크레인의 안티 스웨이 시스템: Part I-기본구조, 모델링', 제어.자동화.시스템공학논문지, 제10권, 제11호, pp 1112-1118
  6. 박경태, 박찬훈, 김두형, 신영재 (2004). '자동화 컨테이너 터미널을 위한 컨테이너 트랜스퍼 크레인의 안티 스웨이 시스템: Part II-모델 크레인 및 실험 검증', 제어.자동화.시스템공학논문지, 제10권, 제12호, pp 1287-1294
  7. Fujisaki, Y. and Ikeda, M. (1991). 'Synthesis of Two-Degree-of-Freedom Servosystems', Trans. SICE, Vol 27, No 8, pp 907-914 https://doi.org/10.9746/sicetr1965.27.907
  8. Kim, Y., Ikeda, M. and Fujisaki, Y. (1996). 'Robust Stability and High-Gain Integral Compensation od Two-Degree-of-Freedom Servosystem', Trans. of SICE of Japan, Vol 32, No 2, pp 180-187 https://doi.org/10.9746/sicetr1965.32.180
  9. Kim, C.W, Hong, K.S. and Lodewijks, G. (2004). 'Anti-Sway Control of Container Cranes : an active mass-damper approach', Proceedings of SICE Annual Conference, pp 939-944
  10. Kim, YB., Kim, D.H., Jang, J.5. and Zhai, G. (2005). 'Gain-Scheduling Approach to Mass Damper Type Anti-Sway System Design', Proc. of the 16th IFAC World Congress, We-A04-TP-7
  11. Lee, H.H. (2004). '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 https://doi.org/10.1080/00207170412331270550