• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2000년도 추계학술대회논문집
• /
• pp.185-195
• /
• 2000

This pacer studied on the lateral motion and yaw motion of the gantry crane which is used for the automated container terminal with two driving wheel types. Though several problems are occcurred in driving of gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operation. There are two types, cone and flat t y pin driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane with two driving wheel types are derived. Then, we investigate the driving characteristics of gantry crane. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and yaw angle of the gantry crane. The simulation result of the driving mechanism using the Runge-Kutta Method is presented in this paper.

• Journal of Advanced Marine Engineering and Technology
• /
• 제25권4호
• /
• pp.880-888
• /
• 2001

This paper presents a fault detection asnd isolation algorithm for highly reliable gantry crane system. The algorithm is constructed by multiple PI observer technique, and the magnitude of actuator fault can be estimated by using integrated estimated output error. Also, the complex actuator and /or sensor fault can be detected and isolated by monitoring the integrated error and the estimated state error. Considering the actuator and/or the sensor fault, we verify that these fault can be detected and isolated through simulation. Lastly, we show a simple reliable control method by using the detected fault signal and an added observer.