• Journal of Advanced Marine Engineering and Technology
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• v.26 no.5
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• pp.544-553
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• 2002

The recent amount of container freight continuously has been increased, but the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. It is required that the working velocity and safety are improved by control of moving the trolley as quick as possible without large overshoot and any residual swing motion of container at the destination. In this paper, a LQ controller for a container crane is proposed to accomplish an optimal design of improved control system for minimizing the swing motion at destination. In this scheme a mathematical model for the system is obtained in state space form. Finally, the effectiveness of the proposed controller is verified through computer simulation.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.4
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• pp.502-508
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• 2000

The amount of container freight is continuously increasing recently, but freight congestion problem frequently occurs at ports due to low efficiency of container crane in transportation and cargo handling. In this paper, a method for designing a fuzzy controller of the container crane system is presented. In this scheme a mathematical model for the system is obtained in state space representation. The response of the proposed fuzzy controller is compared with that of the optimal controller at the same condition. Through the simulation results, the performance of the fuzzy controller was observed better than that of optimal controller in respect of reference change, disturbances and parameter change. The fuzzy controller was also more stable and robust than the optimal controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.2
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• pp.227-235
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• 2010

This paper introduces the design of a bridge transport system with a telescopic tube for positioning equipment to perform remote handling tasks in a radioactive facility. It consists of an extensible and retractable telescopic tube assembly for z-direction motion, a cabling system for management of power and signal cables, and a trolley system for transverse motion and accommodating servo drives. The working environment for the bridge transport system with the telescopic tube requires strict geometrical constraints, including a short height, short telescopic tube length when retracted, and a long stroke. These constraints were met by solving a nonlinear programming problem involving the optimal dimensions. This paper introduces a cabling system for effective management of cables with changeable lengths to accommodate telescopic motions and a selection guide for servo drives that are sufficient to drive the system.