• Title/Summary/Keyword: Anti-Sway System

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Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State Feedback

  • Kim, Yong-Seok;Hong, Keum-Shik;Sul, Seung-Ki
    • International Journal of Control, Automation, and Systems
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    • v.2 no.4
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    • pp.435-449
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    • 2004
  • In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.

Position Control of the Trolley and Spreader Using Pole-placement Method (극점배치기법을 이용한 트롤리 및 스프레더의 위치제어)

  • Lee, Tae-Young;Kim, Myun-Hee;Choi, Won-Sik
    • Journal of the Korean Society of Industry Convergence
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    • v.2 no.2
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    • pp.165-172
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    • 1999
  • Crane operation for transporting heavy loads causes swinging motion at the loads. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane is derived. and the feedback gain matrix based on the pole-placement method is proposed to supress the swing motion and control the position of the crane. The performance of the controller for the crane model is simulated on the personal computer.

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Feedback Linearization Control of Container Cranes (컨테이너 크레인의 되먹임 선형화제어)

  • PARK HAHN;CHWA DONG-KYUNG;HONG KEUM-SHIK
    • Journal of Ocean Engineering and Technology
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    • v.19 no.5 s.66
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    • pp.58-64
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    • 2005
  • In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.

An Automatic Travel Control of a Container Crane using Neural Network Predictive PID Control Technique

  • Suh Jin-Ho;Lee Jin-Woo;Lee Young-Jin;Lee Kwon-Soon
    • International Journal of Precision Engineering and Manufacturing
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    • v.7 no.1
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    • pp.35-41
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    • 2006
  • In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2-DOF PID controller. The experimental results jar an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard.

Effects of Fleet-Angle on Sway Motions of a Cargo: Design Force Calculation (로프각이 화물의 진자운동에 미치는 영향: 설계력의 계산)

  • SHIN JANG-RYONG;PARK YONG-HYUN;GOH SUNG-HEE;HONG KEUM-SHIK
    • Journal of Ocean Engineering and Technology
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    • v.19 no.1 s.62
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    • pp.77-86
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    • 2005
  • Over the last 10 years, significant changes have taken place in the world of container shipping. The size and the speed of the quay-side crane have been increased considerably. As a result, the stiffness of a crane is decreased and the sway oscillation of cargo may become violent. The purpose of this paper is to determine the design force caused by the sway oscillation of the cargo, lifted by four ropes, with an initial fleet angle, and the governing equations of the lifting system for an anti-sway control system design.

An Autonomous Traveling Control of Crane Using Humoral Immune Algorithm (생체면역알고리즘을 이용한 크레인의 자율주행 제어에 관한 연구)

  • Lee, K.S.;Lee, Y.J.
    • Journal of Power System Engineering
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    • v.10 no.3
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    • pp.88-96
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    • 2006
  • While the crane system operate in port, one of main objective is to transport containers to the goal position as soon as possible. Because this is one of the biggest problem in terms of productivity of port, the container crane is operated by an expert operator until now. However recently an automatic control system with high performance is required to improve the performance of the crane system and to make high productivity. Therefore we developed an optimal controller based on Humoral Immune Algorithm with PID controller. The proposed system has a real time structure and can improve the performance such as anti-sway problem. Some computer simulations are implemented to assess the characteristics of the proposed controller.

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Anti-Sway Tracking Control of Container Cranes with Friction Compensation (마찰 보상을 갖는 컨테이너 크레인의 흔들림 억제 추종 제어)

  • Baek, Woon-Bo;Shin, Jin-Ho
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.21 no.6
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    • pp.878-884
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    • 2012
  • In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.

Anti-sway Control of Crane System using Time Optimal Control Method (최단시간 제어법을 이용한 크레인의 흔들림 방지제어)

  • 이진우;김상봉
    • Journal of the Korean Society of Safety
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    • v.12 no.3
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    • pp.23-29
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    • 1997
  • In the control of crane system, the traversing time of the trolley must be reduced as much as possible and the swing must be stopped at the end point. To design the minimum time control system, Pontryagim maximum principle is applied. In order to implement the control algorithm, the dynamic equation is linearlized at an equilibrium point, so that the linear time invariant state equation can be obtained. The overall performance of the closed loop system is evaluated by means of computer simulations and practical experiments in a broad range of working conditions. The effectiveness is proved through the experimental results for the anti-sway control of the load and the position control of trolly. It is expected that the proposed system will make an important contribution to the industrial fields.

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A Design of Anti-sway Controller for Container Crane (컨테이너 크레인의 흔들림 억제 제어기 설계)

  • Son, J.K.;Kwon, S.J.;Park, H.S.
    • Journal of Power System Engineering
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    • v.7 no.1
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    • pp.51-59
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    • 2003
  • 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 Fuzzy 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.

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A Study on the Sway Control of a Container Crane with Varying Rope Length Based on Gain-Scheduling Approach (로프 길이변화를 고려한 크레인의 흔들림 제어에 관한 연구: Gain-Scheduling 기법에 의한 제어기 설계)

  • Kim, Y.W.;Kim, Y.B.
    • Journal of Power System Engineering
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    • v.8 no.3
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    • pp.58-66
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    • 2004
  • The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

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