• 한국정밀공학회지
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• 제22권4호
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• pp.128-135
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• 2005

Overhead crane systems consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. The dynamic system of these systems becomes a nonlinear state equations. These equations are obtained by the nonlinear equations of motion which are derived from transfer functions of driving motors and equations of motion for objects. From these state equations, Lyapunov functions of overhead crane systems are derived from integral method. These functions secure stability of autonomous overhead crane systems. Also constraint equations of driving motors of trolley, girder, and hoist are derived from these functions. From the results of computer simulation, it is founded that overhead crane systems is secure.

• 원자력산업
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• 제16권3호통권157호
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• pp.40-48
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• 1996

한국전력공사 고리원자력본부는 방사성폐기물 드럼운반용 비개방형 차량을 국내 최초로 개발하여 최근 운영에 들어갔다. 고리원자력본부 기술지원실이 95년 1월부터 자체기술로 설계에 착수하여 95년 8월부터 12월까지 5개월 동안 8천7백만원의 예산을 들여 시제품을 제작, 이번에는 운영을 시작한 이 차량은 천정 크레인 또는 지게차 등으로 드럼 상$\cdot$하차 작업이 가능하도록 현장여건에 맞게 설계된 것이 특징이다. 고리원자력본부는 이 차량을 운영하게 됨에 따라 방사성폐기물 드럼 소내운반시 발생할 수 있는 부지내 방사능오염 소지를 완전히 배제할 수 있게 되었으며, 타 원자력발전소에서도 이 차량을 도입할 예정이다.

• 제어로봇시스템학회논문지
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• 제6권11호
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• pp.1022-1032
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• 2000

We propose a sliding mode controller tracking the states of a time-varying reference model. The reference model generates the desired trajectories of the states, and the sliding mode controller regulates robustly the errors between the desired states and the measured states. We apply this controller to the overhead crane. Its reference model generates the trajectories of the damped-out swing angle and the swing angular velocity to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. Also, this model generates the desired trajectories of the position and velocity of the crane. The crane model is identified from the experimental data using an orthogonal function. Kalman filtering is applied to estimate the crane states. The designed controller is simulated on a computer and is tested through a 2-ton industrial overhead crane using the vector-controlled servo motor system. It is verified that, from the simulated and experimental results, the sliding mode controller tracking a time-varying reference model works well.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1871-1875
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• 1997

Crane operation is manually accomplished by skilled operators. Recently, the concept of automation is widely introduced in shipping and unloading operation using the overhead crane for the enhanced productivity. In this regards, we designed an angle detector and 3D position detectro which are key evices for this operation. As well as an intellignet control algorithm is developed for the implementation of swing free crane. The performance of the presented algorithm is tested for the swing angle and the position of the overheas crand. The control scheme adopts a feedback control of an angular velocity of swing in initial phase and then the fuzzy controller whose rule base is optimized by a genetic algorithm.

• Tribology and Lubricants
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• 제7권2호
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• pp.13-21
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• 1991

선박은 사람이나 화물을 수상(水上) 운송수단의 목적으로 오랜 옛날부터 사용하여 왔으며, 금세기에 이르러서는 오랜 옛날부터 사용하여 왔으며, 금세기에 이르러서는 인류문화의 급속한 발전에 따라 주변생활이 가속화(Speed화), 합리화되어 문명의 혜택을 보다 많이 누리게 된 반면에, 국제간에 파생되는 여러가지 교환현상을 바탕으로 지구는 하나의 촌(村)으로 되어 유통경제를 지배하고 이용하는 운송수단으로 발전되어 왔다. 물질문명이 급속히 발전하는 작금, 선용추진 주 기관의 동향을 살펴보면, 1981년 세계에서 건조한 2000톤급 이상의 선박은 940여척으로 이중 13척이 증기 Turbine. 추진(推進), 나머지는 미끄럼 저속 디이젤 또는 중고속 디이젤 추진으로 되어있다. 이와 병행하여 선박에 쓰여지고 있는 각종 윤활제는 주기관으로서 디이젤 engine, Trubine engine, 가솔린 engine, 석유, engine, 선외기, 왕복동 증기기관, Journal계열로서 역전기, 추력베어링, 중간 베어링, 프로펠러베어링, 일반상선으 보조기계로서 발전기, 공기압축기, Boiler, 각종 Pump, 각종 Motor, 냉동기, 조타장치, Side Thrust, 갑판기계, 환기용 송풍기 및 통풍통, Oil 청정기, 수밀로(水蜜爐), 소화설비, 주기 개방용 천정 크레인, elevator, 어선으로서의 주 기관, 보조기기 등에 쓰여지고 있으며 이밖에 수중날개선 등에도 적용되는 등 실로 다양다종한 윤활제가 요구되고 있음에, 본 논고에서는 제목 건을 중심으로 한 선박과 윤활의 중요 Point만을 간추려 기술하고져 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1428-1431
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• 1996

This paper proposes an anti-swing control law for a 2 degrees of freedom overhead crane. The dynamic model of a 2 degrees of freedom crane is highly nonlinear and coupled. The model is linearized and decoupled for each degree of freedom of the crane for small motions of the load about the vertical. Then a decoupled anti-swing control law is designed for each degree of freedom of the crane based on the linearized model. The control law consists of a position control loop and an swing angle control loop. The position loop,. is designed based on the loop shaping method and the swing angle loop is designed via the root locus method. Finally, the proposed anti-swing control law is implemented and evaluated on a 2 degrees of freedom prototype crane.

• 전기학회논문지
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• 제62권3호
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• pp.407-413
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• 2013

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.526-529
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• 1998

In this paper, we proposed a nonlinear sliding mode controller to regulate the swinging angle of Overhead Crane System. Roughly speaking, the controller is designed to regulate an output(the swing angle) while providing internal stability. It is difficult to apply many of standard nonlinear control design techniques. In contrast to control that use a command generator and possibly a time-varying feedback, our control law is simple autonomous nonlinear controller. We analyze the stability of the closed-loop system using an $L_2$ Sliding surface conditions approach on a nonlinear feedback linearization of the system about the desired periodic orbit. One can easily extend this approach to analyze the robustness of the control system with respect to disturbances and parameter variations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2753-2755
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• 2003

Overhead crane must do to control occurrence of Anti-Sway according to work situation that is used in case move industry spot's heavy freight, and do safe transfer of freight. Transfer process that make use of crane suspends and consist of series action that put down freight to do relevant addition decreasing the speed before objective while move by schedule section equal speed because increasing the speed after lift thing. This need skill degree by experience because there are operator's function and affinity. Also, must control this effectively because can affect big productivity elevation according to effect that get in transfer of safe freight, Therefore, illuminate physical characteristic of crane and algorithm of motor drive department and there is purpose of this research to do so that correct control may be available through over head crane's shaking control and position control designing LQ controller.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1991년도 가을 학술발표회 논문집
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• pp.111-114
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• 1991

The KMRR 4-wheel crane which has a span of 30.6m long shall be designed to maintain its structural integrity during and after seismic shocks. Horizontal and vertical FRS for OBE and SSE conditions at the crane support are after seismic shock. Horizontal and vertical FRS for analysis are 4% for OBE and 7% for SSE. The crane consists of girder, saddle main and auxiliary trolley, and necessaries. They are modeled as beam elements and lumped masses for the following 4 cases ; trolley at center of the crane with and without the rated load, trolley at end with and without the rated load. The static analysis as well as the linear dynamic analysis including frequency and response spectrum analysis are performed for the seismic qualification of the crane using the Finite Element Method. For the simplicity of the analysis, the decoupling criteria are considered for the crane rope and the crane supporting beams. The main sections of the crane are stiffened until the calculated stresses satisfy the allowable limits. The seismic resultant loads are used to design the seismic restraints of the saddle and the trolley to protect the clue from the seismic uplifting loads the study results have show that the seismic design of the KMRR crane is governed by the OBE condition. not by the SSE condition. This paper briefly describes the analysis procedure used in the seismic design of the KMRR crane, and summarizes the analysis results.