• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1212-1219
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• 2010

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

• Journal of Advanced Marine Engineering and Technology
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• 제27권6호
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• pp.759-766
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• 2003

The amount of container freight continuously has been increased. and the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. The conventional control techniques based on a mathematical model are not well suited for dealing with ill-defined and uncertain systems. Recently. Fuzzy control has been successfully applied to a wide variety of practical problems as robots. automatic train operation system. etc. In this paper. a fuzzy controller for container crane is proposed to accomplish a 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. to exhibit the tracking performance and robustness of the proposed controller. computer simulations were carried out with various references, parameter variations and disturbances.

• 동력기계공학회지
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• 제12권6호
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• pp.42-49
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• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, 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 modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.155-156
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• 2009

• 한국해양공학회지
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• 제20권6호
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• pp.114-122
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• 2006

The most important thing in the container terminal is to handle the cargo effectively in a limited time. To achieve this objective, many strategies have been introduced and applied. If we consider the automated container terminal, it is necessary that the cargo handling equipment is equipped with more intelligent control systems. From the middle of the 1990s, an automated rail-mounted gantry crane (RMGC) and rubber-tired gantry crane (RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, equipment like CCD cameras and sensors have been mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes that make the cargo handling be performed effectively in the yards. For this plant, we ought to consider modeling, tracking control, anti-sway system design, skew motion suppressionand complicated motion control and suppressing problems. In this paper, the system modeling and a tracking control approach are discussed, based on a two-degree-of-freedom (2DOF) servo-system design. From the simulation results, the good control performance of the designed control system is evaluated.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.26-32
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• 2007

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. In this paper, the system modelling and a tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.

• 한국항해항만학회지
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• 제42권1호
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• pp.47-56
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• 2018

초대형선박의 등장으로 컨테이너 터미널 생산성의 한계에 직면하고 있으며 이를 해결하기 위한 새로운 개념의 터미널시스템들이 제안되고 있다. 본 논문에서는 개념설계 중인 레일기반 컨테이너 이송시스템을 대상으로 연구한다. 이는 레일 위를 움직이는 무인반송차인 플랫카와 천장형 레일을 따라 움직이는 셔틀크레인으로 구성된 시스템이다. 자동화된 컨테이너 터미널에서 컨테이너 수송 기능을 담당하는 무인반송차의 운영 시 교착과 같은 병목현상은 오랫동안 중요한 문제로 잘 알려져 있다. 따라서 초대형 선박과 같이 대량의 컨테이너 취급하는 신개념의 레일기반 컨테이너 이송시스템에서 발생 가능한 교착 현상을 정의하고 해결방안에 대해 논한다. 교착 현상은 이종장비 간 교착과 플랫카 간 교착문제로 구분하여 소개한다. 본 연구는 시뮬레이션 접근법을 사용하여 레일기반 컨테이너 시스템 모델을 개발한다. 개발된 시뮬레이션 모델의 실행을 통하여 수송구간에서 발생 가능한 교착 상태를 확인하고 이를 해소하기 위한 교착 회피 규칙을 개발한다. 시뮬레이션 실험을 통하여 교착발생 빈도를 기준으로 교착 회피 규칙들의 성능을 비교한다.

• 한국항만경제학회지
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• 제26권3호
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• pp.114-129
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• 2010

부산항은 세계 주요 항만에 비해 컨테이너화물 취급 중심의 기능을 수행하는 항만이며, 기피화물과 같은 일반화물의 취급 비중이 매우 낮은 항만이다. 즉, 2008년도에 1,329만 TEU의 컨테이너화물 처리실적을 기록한 부산항은 전체 컨테이너화물 중량은 1억 1,305만 톤에 달하지만, 일반화물의 중량은 1,531만톤으로 컨테이너화물 비율이 88.1%를 차지하였다. 그러나 기피화물의 유치 및 취급 증대를 통해 부가가치를 창출할 시점에 와있다. 본래 기피화물은 처음부터 기피화물은 아니었다. 어떻게 보면 국가 기간산업에 반드시 필요한 전략물자로서 매우 중요한 고부가가치 화물이었다. 그런데 취급하다 보니 컨테이너화물에 비해 환경문제, 취급상의 특수성, 수급불안으로 인한 수지타당성의 불확실성 등으로 인해 기업(선사 포함)은 취급을 꺼려하여 기피화물이 된 것이다. 그러나 현재 기피화물로 분류된 품목 등은 국가 기간산업에, 또는 국민생활에 반드시 필요한 전략적인 물자이다. 또한 현시점에서 어떻게 보면 고부가가치화물이다. 따라서 기피화물 유치 마케팅을 통한 기피화물 취급 증대와 이를 효율적으로 취급하여 줄 수 있는 체제, 즉 전용항만부두의 건설과 시설 및 장비의 현대화, 품목별 물류단지의 조성을 통한 보관 취급 장소의 안정적 확보, 효율적 정보처리, 유관기관간의 SCM구축을 통한 긴밀한 협조가 필요한 시점이다.

• 한국항해항만학회지
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• 제34권5호
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• pp.311-317
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• 2010

하역장치가 장착된 모바일하버 선박은 새로운 해상운송시스템 개념으로, 특정 정박지에서 대형 컨테이너 선박에 계류하여 해상상태 3 이하 조건에서 신속하면서 효율적인 컨테이너 하역작업을 수행하는 것이다. 모바일하버와 관련한 주요 연구로는 고속하역시스템, 부유체 구조 설계, 안벽하역시스템 해석 및 작업크레인 설계 등의 원천기술 개발을 중심으로 수행되었다. 본 연구는 모바일하버 선박의 하역작업 중 동적안정성 확보를 위한 계류안정화시스템을 개발하고자 하는 것으로, 국내외 계류장치에 대한 현황 분석을 기초로 현재 선박에 탑재되어 있는 의장장치인 윈치시스템에 계류안정화 기능을 추가시킨 포지셔닝윈치를 개발하여 모선과의 상대운동을 최소화하는 방안에 대한 개념설계를 제안한다.

• 한국항만학회지
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• 제5권2호
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• pp.19-37
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• 1991

This work aims to : establish a model of the container physical distribution system of Pusan port comprising 4 sub-systems of a navigational system, on-dock cargo handling/transfer/storage system, off-dock CY system and an in-land transport system : examine the system regarding the cargo handling capability of the port and analyse the cost of the physical distribution system. The overall findings are as follows : Firstly in the navigational system, average tonnage of the ships visiting the Busan container terminal was 33,055 GRT in 1990. The distribution of the arrival intervals of the ships' arriving at BCTOC was exponential distribution of $Y=e^{-x/5.52}$ with 95% confidence, whereas that of the ships service time was Erlangian distribution(K=4) with 95% confidence, Ships' arrival and service pattern at the terminal, therefore, was Poisson Input Erlangian Service, and ships' average waiting times was 28.55 hours In this case 8berths were required for the arriving ships to wait less than one hour. Secondly an annual container through put that can be handled by the 9cranes at the terminal was found to be 683,000 TEU in case ships waiting time is one hour and 806,000 TEU in case ships waiting is 2 hours in-port transfer capability was 913,000 TEU when berth occupancy rate(9) was 0.5. This means that there was heavy congestion in the port when considering the fact that a total amount of 1,300,000 TEU was handled in the terminal in 1990. Thirdly when the cost of port congestion was not considered optimum cargo volume to be handled by a ship at a time was 235.7 VAN. When the ships' waiting time was set at 1 hour, optimum annual cargo handling capacity at the terminal was calculated to be 386,070 VAN(609,990 TEU), whereas when the ships' waiting time was set at 2 hours, it was calculated to be 467,738 VAN(739,027 TEU). Fourthly, when the cost of port congestion was considered optimum cargo volume to be handled by a ship at a time was 314.5 VAN. When the ships' waiting time was set at I hour optimum annual cargo handling capacity at the terminal was calculated to be 388.416(613.697 TEU), whereas when the ships' waiting time was set 2 hours, it was calculated to be 462,381 VAN(730,562 TEU).