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

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

  • 김영복 (부경대학교 공과대학 기계공학부) ;
  • 이권순 (동아대학교 공과대학 전기공학과) ;
  • 한승훈 (동아대학교 대학원)
  • 발행 : 2006.10.31

초록

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.

키워드

참고문헌

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