• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.103.3-103
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• 2002

1. Introduction 2. Dynamic Model of Stacking Crane 3. The Path Plan of Stacking Crane 4. Design of Neural Network Predictive PID Controller 5. Result of Computer Simulation and Investigation 5. Conclusion

• Journal of Power System Engineering
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• v.12 no.6
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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.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.6
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• pp.757-765
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• 2019

In manufacturing An offshore plant is a structure that produces resources buried in the seabed. It can be classified into fixed, floating, and hybrid methods depending on the installation method. In particular, the Lattice boom type crane is typically used because it is used for a long time in the sea and moves to other seas, which is less affected by wind. In this study, the crane was designed by using three-step optimization design in the early stage of the design of Lattice boom crane for offshore plant. Finite element analysis was performed to verify the safety factor, deflection, buckling coefficient and fatigue life of the designed crane and the results were verified.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1250-1253
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• 1993

The fuzzy control theory is applied to control a container crane, which is a very complicated system and controled manually by experts. As reference velocities of trolley and hoist of the container crane, we use those decided by experts, and express them by fuzzy model. We control the crane to follow the reference velocities by using fuzzy controllers. The fuzzy controllers are designed on the container crane. We made a model container crane and applied the suggested method to it

• Structural Engineering and Mechanics
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• v.51 no.5
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• pp.707-725
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• 2014

In order to improve the crane-hook's performance and service life, we formulate a multi-criteria shape design problem considering practical conditions. The structural weight, the displacement at specified points and the induced matrix norm of stiffness matrix are adopted as the evaluation items to be minimized. The heights and widths of cross-section are chosen as the design variables. The design variables are expressed in terms of shape functions based on the Gaussian function. For this multi-objective optimization problem with three items, we utilize a multi-objective evolutionary algorithm, that is, the multi-objective Particle Swarm Optimization (MOPSO). As a common feature of obtained solutions, the side views are tapered shapes similar to those of actual crane-hook designs. The evaluation item values of the obtained designs demonstrate importance of the present optimization as well as the feasibility of the proposed optimal design approach.

• Journal of the Korean Society of Safety
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• v.22 no.2 s.80
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• pp.59-66
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• 2007

As the need of handling heavy materials increases, various cranes are used in industries. However, the effectiveness of crane also entails industrial accidents such as falling, constriction etc. In fact, the number of fatal accidents caused by crane is still high in Korea. To find out the causes of the accidents in terms of human error, we developed a man-machine system model that consists of two axes; human information processing and crane life cycle. In the human information processing dimension, we simplified it as five functions; sensing and perception, decision making and memory, response etc. In the crane life cycle dimension, we divided it into nine phases; design, production, operation etc. For the 152 fatal accident records during 1999-2006 years, we classified them into 45 cells made by two axes. Then we identified the preceding causes of the classified crane accident based on performance shaping factors. As the results of statistical analysis, the overall trend of crane fatal accidents was described. For the cause analysis, wrong decision making in work plan phase shows the highest frequency. Next, the poor information input in crane operation followed in accident frequency. In ergonomics view, the problems of interface design in displays and controls made 11.8% of fatal accidents. Following the analysis, several ergonomic design guidelines to prevent crane accidents were suggested.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.1
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• pp.95-100
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• 2012

A deck crane is installed on the deck of a ship when there is no adequate facility for loading and unloading in dock or harbor. Deck cranes in Korea have been imported from abroad, and the import-substitution effect will arise if its production can be localized. Now, it is required to suggest the structural design of a deck crane that meet the domestic criterion, considering loading condition. In this study, the structural analysis of a pedestal in the deck crane was peformed by finite element method to investigate the strength requirement. In addition, the structural design of a pedestal was suggested by using ANSYS and VisualDOC. The optimized structure of a pedestal was determined, considering lightweight design.

• Journal of Navigation and Port Research
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• v.29 no.6 s.102
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• pp.561-566
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• 2005

This study was carried out to amlyze and compare the stability of a 50ton container crane according to various wind load design codes. The wind load was evaluated according to 'The Specification of Port Facilities and Equipments / Specification for the design of crane structures (KS A 1627)' and 'Load Criteria of Building Structures' effected by the ministry of construction & transportation And the uplift forces qf a container crane under this wind load were estimated by amlyzing reaction forces at each supporting point and compared each other. From this study, we noticed that the design wind velocity criteria need to be defined specifically when the wind load is evaluated to design a container crane. And we verified the necessity of the estimation of the uplift forces at each supporting point to analyze a structural stability of a container crane and the maximum compressive force in order to consider the stability of the ground foundation of the berth.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.88-95
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• 2009

Input shaping has been a very effective control method for reducing payload swing in industrial bridge and gantry cranes. However, conventional input shapers often degrade performance when applied to tower cranes because of the nonlinear coupled dynamics between rotational and radial motions in tower cranes. To alleviate this problem, a new input shaper for tower cranes is developed by means of dynamic modeling, analysis and optimization. This work investigates the tower crane dynamics along with parameters of the tower crane varied. A performance index for input shaper design is proposed so as to reduce the coupled residual vibration of a tower crane using only rotational motion of tower crane. The proposed new input shaper is verified to be effective through simulations and experiments.

• Journal of the Korea institute for structural maintenance and inspection
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• v.24 no.6
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• pp.92-101
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• 2020

It is necessary to develop a rational method for evaluating the safety of bridges for the passage of inseparable crane vehicles exceeding the limit weight. In this study, the same method applied to the development of the recently introduced reliability-based highway bridge design code - limit state design method is applied to the calibration of the live load factor for the crane vehicle. Structural analysis was performed on the concrete bridge and the required strengths of the previous design code, the current design code and AASHTO LRFD were compared. When comparing the unfactored live load effect, the live load of the crane was greater than that of the current and previous design code. When comparing the required strength by applying the calibrated live load factor, the previous design code demands the largest strength and the current design code and the crane live load effect yields similar value. The results of safety evaluation of the actual bridges on the candidate route for the crane passage secured the same reliability as the target reliability index required by the design code and the strength of the cross section of the actual bridge is calculated greater than the required strength for the passage of the crane, which confirms the safety for the passage of the crane.