• Journal of Navigation and Port Research
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• v.29 no.3 s.99
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• pp.291-298
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• 2005

In this article. the specifications of a future container crane for a 18,000 TEU megaship are investigated After studying the transitions of containerships through the past half century, the characteristics of the past and current container cranes are outlined. together with various research trends throughout the world Upon these results, the size and performance of the container crane that will be used beyond the year 2014 are forecast. Specifically, the structure, trolley and hoist mechanism, control method, outreach. backreach, rail gage, loading capacity, stability, durability, and others are summarized.

• Journal of the Korea Society for Simulation
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• v.28 no.4
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• pp.45-56
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• 2019

Literatures have considered mathematical model that change the job order of shipper for improving the operation time of yard crane. However, on the real site, it is impossible to change the job order decided according to the shipper's arrival order. Therefore, operation managers have been utilized the relatively simple strategy that job control is better but the process time of yard crane is longer due to the growth of yard crane's interference time and empty drive time. This study proposed a new yard-crane scheduling approach that decided the job order before the shipper's truck arrived the yard terminal. We utilize the Container Pre-Information Notice estimating the arrival time of truck. We developed the container terminal simulation model for validation of the effect of proposed scheduling approach. The results show that the proposed scheduling reduced the interference delay time and empty moving time of yard crane and shipper's truck delay time.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.720-725
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• 1997

This paper is to study the wind effect of the large scale gantry crane. It is used to control the sway of gantry crane in the loadingiunloading job of containers. I'hls is very important in the automated container terminal because the sway of handling equipments in pard is caused by thc l~nexpected disturbance such as wind and dynamic inertia by deriving force. This study shows the process of the modelling simulation of the wind effect of the sway motion of the gantry crane. Pro-Engineer, ANSYS and DAD'; ~ rr . used for 3D solid modelling and dynamic simulation. Though this study did not use the real parameters. the ; cwl ~ shows the trend of the wind effect is very large in the large scale crane and should be considered in design of the large scale gantry crane. In future, if the study is done by using the real parameters, the result is much more ~ise!'ul for dynamic control and design of gantry crane.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.540-545
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• 2004

This article describes the time delay control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, develops time delay control algorithm [1]. The developed control algorithm is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1327-1332
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• 2003

In this paper, an ATC(Automated Transfer Crane) control system is required rapid transportation to get highest productivity with low cost. Therefore, the container paths should be built in terms of the least time and least sway when container is transferred from the initial coordinate to the finial coordinate. So we applied the best-first search method for forming the container path, and calculated the anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the neural network two degree of freedom PID (TDOFPID) controller to control the precise navigation. For simulation, we constructed the container profiles so that we analyzed the state of formed path and the performance of TDOFPID controller to the formatted path. Then we compared the performance of ES-tuned PID controller with our proposed controller in terms of trolley position, anti-sway, path change, disturbance, and the load of containers. The computer simulation results show that the proposed controller has better the other on the various conditions.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.304-306
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• 2007

In this paper, we presents a scheme for the parameter estimation and optimal control scheme for apparatus of container crane system. For parameter estimation, first, we construct the open loop of the container crane system and estimate its parameters based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. The RCGA plays an important role in parameter estimation as an adaptive mechanism. For controller design, state feedback gain matrix is searched by another RCGA and the estimated model. The performance of the proposed methods are demonstrated through a set of simulation and experiments of the experimental apparatus.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1723-1728
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• 2005

This article describes the fuzzy control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, describes the design of the fuzzy controller, which does not require the computation time to optimize the distribution of cable tension. The developed controller is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.53-60
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• 2005

The wire rope of container crane is a important component to container transfer system and is used in a myriad of various applications such as elevator, mine hoist, construction machinery, and so on. If it happen wire rope failures in operating, it may lead to the safety accident and economic loss, which is productivity decline, competitive decline of container terminal, etc. To solve this problem, we developed the active and portable wire rope fault detecting system. The developed system consists of three parts that are the fault detecting, signal processing, and remote monitoring part. All detected signal has external noise or disturbance according to circumstances. Therefore we applied to discrete wavelet transform to extract a signal from noisy data that was used filter. As experimental result, we can reduce the expense for container terminal because of extension of exchange period of wire rope for container crane and this system is possible to apply in several fields to use wire rope.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2461-2463
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• 1998

The container crane is more expensive than other cranes, and is designed for efficient use. Since there are more control variables than other crane has more fault factors. Therefore it is important to reduce these factors efficiently and also to increase the capacity to move more freight in due time. To solve the above problems the velocity relation of the motor will be examined. In this paper the velocity relation of the motor will be expressed in a mathematical equations for efficient control.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2567-2568
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• 2000

The container crane is more expensive than other cranes, and is designed for efficient use. Since there are more control variables than other crane has more fault factors, Therefore it is important to reduce these factors efficiently and also to increase the capacity to move more freight in due time. To solve the above problems the velocity relation of the motor will be examined. In this paper, the velocity relation of the motor will be expressed in a mathematical equations for efficient control.