• Journal of Advanced Marine Engineering and Technology
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• 제28권7호
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• pp.1159-1164
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• 2004

There is an Overhead Hoist Transport(OHT) for delivering the wafer in semiconductor processing. The transfer system is consists of carrier vehicle. rail, and support. OHTCMS(OHT Control and Management System) has to take the feature, such as the optimal control and integration with several OHT. In this paper, ESRA(Efficiency of Shortest - Route Algorithms) is proposed which can be transported optimal route and be prevented collision using the Floyd-Warshall algorithms. The proposed algorithm is verified through consecutive simulation for a long time.

• 한국정밀공학회지
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• 제22권4호
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• pp.128-135
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• 2005

Overhead crane systems consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. The dynamic system of these systems becomes a nonlinear state equations. These equations are obtained by the nonlinear equations of motion which are derived from transfer functions of driving motors and equations of motion for objects. From these state equations, Lyapunov functions of overhead crane systems are derived from integral method. These functions secure stability of autonomous overhead crane systems. Also constraint equations of driving motors of trolley, girder, and hoist are derived from these functions. From the results of computer simulation, it is founded that overhead crane systems is secure.

• 한국정밀공학회지
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• 제16권9호
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• pp.166-171
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• 1999

An overhead crane system consists of trolley, girder, rope, object, trolley motor, girder motor, and hoist motor. An analytic model which derived from the modelling of the overhead crane system is nonlinear model which includes the swing and the twist angle of the object. this model consists of the equation of motion for motors and object. If the swing angle and the acceleration of Z for the object are small, this model becomes a simple nonlinear model which doesn't include the swing and the twist angle of the object. From the results of computer simulation, the characteristics of an actual overhead crane system could be predicted by the simple nonlinear model.

• 대한기계학회논문집A
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• 제25권12호
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• pp.1919-1925
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• 2001

Overhead cranes consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. If objects are regarded as mass point, and the acceleration of hoisting motion for objects is neglected, analytical model of overhead cranes becomes a nonlinear model because the length of a rope changes. Equations of motion this model is derived of simultaneous differential equations fur motors and object. Positions of the model are controlled by optimal inputs which obtain from a nonlinear optimal control method. From the results of computer simulation, even if initial states of objects suing, it is founded that position of overhead cranes is controlled, and that swing of objects is suppressed.

• 한국정밀공학회지
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• 제17권4호
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• pp.142-147
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• 2000

An overhead crane system which transports an object by girder motion, trolley motion, and hoist motion becomes a nonlinear system because the length of a rope changes. To develope the position control algorithm for the nonlinear crane systems, we apply a nonlinear optimal control method which uses forward and backward difference methods and obtain optimal inputs. This method is suitable for the overhead crane system which is characterized by the differential equation of higher degree and swing motion. From the results of computer simulation, it is founded that the position of the overhead crane system is controlled, and the swing of the object is suppressed.

• 정보처리학회논문지D
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• 제11D권2호
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• pp.461-470
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• 2004

반도체 업계에서는 200mm 반도체 웨이퍼 생산공정이 300mm 웨이퍼 생산공정으로 바뀜에 따라, 300mm 반도체 웨이퍼를 이동시키는 로봇을 모니터링하고 시뮬레이션하기 위한 소프트웨어 개발이 필요하다. 이런 소프트웨어는 독립적으로 동작하는 것이 아니라 MCS와 하위 시스템인 로봇과 통신하면서 실행되어야 하므로, 그 구성이 복잡하다. 그러므로, 이 시스템을 체계적으로 개발하기 위해서는 객체지향 개발 방법론인 UML을 적용할 필요성이 있다. 본 논문은 반도체 웨이퍼를 생산공정에서 이동시키는 로봇을 모니터링하고 시뮬레이션하기 위한 소프트웨어 개발에 UML 프로세스를 적용하였다. UML을 적용하여 UML을 기반으로 한 개발 프로세스 정의와 개발 단계별 업무들에 대한 구체적인 산출물들을 만들어 내었다.

• 전력전자학회논문지
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• 제15권1호
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• pp.9-16
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• 2010

본 논문은 CAN을 사용하여 매트릭스 컨버터로 구동되는 천정형 크레인의 총괄제어 기법을 제시하였다. 크레인의 갠추리, 트롤리 및 호이스트 구동용으로 4개 매트릭스 컨버터-유도전동기 구동장치를 직접토크 기법으로 위치 제어한다. 위치제어 알고리즘과 CAN을 사용한 크레인의 총괄제어 기법을 제시하고, 시뮬레이션 및 실험을 통하여 매트릭스 컨버터-유도전동기로 구동되는 크레인의 위치제어 성능을 확인한다.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제10권7호
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• pp.205-214
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• 2021

반도체 물류 공정은 스마트 제조를 위해 물류 자동화 시스템을 운영한다. 물류 자동화 시스템 중 하나인 OCS(OHT Control System)는 천장에 설치된 레일을 따라 이동하는 OHT(Overhead Hoist Transport)를 자율적으로 제어하는 시스템이다. 본 논문은 반도체 물류 공정에서 효율적인 작업 계획을 위한 실시간 스케줄링 시스템을 제안한다. 제안 시스템의 주된 역할은 OHT 할당 및 최적경로 생성이며, 전체 OCS에서 별도의 독립된 시스템으로 개발하여 시스템의 수정 및 확장이 용이하도록 구성하였다. 시스템 개발을 위해 반도체 물류의 기능 요구사항을 식별하고, 명령 유형에 따른 OHT 제어 시나리오를 정의하였다. 그리고 시스템 간 연동 확장성을 위해 국제반도체장비재료협회(SEMI) 규격을 적용하여 시퀀스 다이어그램과 인터페이스 메시지를 설계하였다. 기능 요구사항과 설계 문서를 바탕으로 개발된 스케줄링 시스템은 Main 시스템 및 데이터베이스와 실시간 연동되어 OHT의 최적할당 및 경로제어를 수행한다. 개발 시스템의 기능 검증을 위해 실제 반도체 물류 현장에서 OCS Main 시스템과 통합시험을 수행하였다. 6가지의 기본 시나리오와 2가지의 예외 시나리오에서 개발 시스템이 OHT 최적할당과 경로제어를 성공적으로 수행함을 검증하였다.

• 대한기계학회논문집A
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• 제21권6호
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• pp.907-917
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• 1997

The purpose of this study is to design an anti-sway motion for industrial overhead cranes which transport objects on a horizontal plane by adjusting movements of a trolley motor and a girder motor. The movement of a hoist motor has not been considered at this time since its role was assumed to move objects only vertically, therefore, not to affect the swing motion of objects. The dynamic behavior of the swing motion shows nonlinear characteristics, which makes the design of anti-sway motion controller difficult. First of all, the nonlinear state equation for the motion of industrial overhead cranes has been derived. Then they have been linearized about normal operating states determined by the dynamic characteristics of motor motion-acceleration, constant speed, and deceleration, and deceleration, during transportation. The partial state feedback control algorithm based on this linearized state equation has been developed on order to suppress the swing motion. The simulation results have demonstrated satisfactory performance of the proposed controller.

• 소음진동
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• 제7권5호
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• pp.765-772
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• 1997

This paper presents the swing motion analysis of the container crane headblock with the passive control device using hydraulic motors and anti-swing ropes. The device hauls at the headblock to opposite direction of its swing motion using the tension difference between anti-swing ropes connected to the headblock. To consider this control mechanism, the headblock is modelled as the rigid bar suspended by two hoist ropes at the overhead trolley and its non-linear equation of motion is derived using Lagrange's equation. Some numerical experiments using the equation are carried out to investigate the swing motion characteristics of the headblock under the variation of geometric relation among the cargo handling components and to evaluate the performance of the anti-swing device.