• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1729-1734
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• 2005

The use of gantry crane systems for transporting payload is very common in industrial application. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronic design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated. The result shows that the intelligent gantry crane system designed based on the mechatronic design approach has better performance compared with the automatic gantry crane system controlled by classical PID controllers. Moreover simulation result shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.

• 대한조선학회 특별논문집
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• 대한조선학회 2013년도 특별논문집
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• pp.8-12
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• 2013

DNV crane criteria are specially designated for the vessel equipped with lifting crane to cover the risk during the crane operation. Based on the DNV crane criteria, the crane performance shall be decided. The weight control has great importance in the management of vessel's design for crane vessel. To evaluate limitation of lightship weight and the effect of design changes sufficiently, the lightship allowable VCG curve was used. The optimization process was carried out for generation of the lightship allowable VCG curve due to the difficulty coming from the characteristic of DNV crane criteria. This paper includes the introduction to the DNV Crane criteria and optimization process for evaluation in aspect of lightship weight and VCG.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.703-707
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• 2000

This paper studied on the lateral motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But, if the gantry crane is unmanned, it is automatically controlled without any human operation. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to these problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane are derived. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and the yaw angle. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.336-336
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• 2000

This paper studied on the yaw motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But if the gantry crane is unmanned, it is automatically controlled without any human operation. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 한국CDE학회논문집
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• 제15권1호
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• pp.70-83
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• 2010

Recently, floating cranes are mainly used to erect heavy blocks or cargos for constructing ships in many shipyards. It is important to estimate the dynamic motion of the heavy cargo suspended by a floating crane and the tension of the wire ropes between the floating crane and the heavy cargo. In this paper, the coupled dynamic equations of motion are set up for considering the 6 degree-of-freedom floating crane and the 6-degrees-of-freedom heavy cargo based on multibody system dynamics. Depending on the cargo weight, the motion of the floating crane would be changed to nonlinear state. The nonlinear terms in the equation of motion are considered. In addition, the nonlinear hydrostatic force, the linear hydrodynamic force, wire rope force, mooring force and gravity force are considered as the external forces. As the result of this paper, we analyze the engineering effect for erecting the heavy cargo by using the floating crane.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.545-550
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• 2001

This paper studied on the lateral motion and yaw motion of the gantry crane that is used for the automated container terminal. Though several problems are occurred in driving of the gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operator. There are two types, cone and flat type in driving wheel shape. In cone type, the 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 two driving wheels are derived. Then, we investigate the driving characteristics of gantry crane. In this study, the proposed controller, based on Model Based Controller, is used to control the lateral displacement and yaw angle of the gantry crane. And the availability of the proposed controller is showed through the comparison with the result of the proposed controller and PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method that is one of the numerical analysis methods, are presented in this paper.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.153-158
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• 2000

The sway motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to investigate the phenomenon that the load is taken by the sway motion of crane. For deriving the dynamic equations related to the swing motion of crane, we introduced a conception of spring and damper in the upper part of the crane. During the crane and trolley is driving along the velocity profile, the swing motion of the spreader and crane will be simulated. The simulation result of the equation of motion using the Runge-Kutta method is presented in this paper. And we will show an effect of the swing of the crane in this research.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.708-712
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• 2000

The sway motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to investigate the phenomenon that the load is taken by the sway motion of crane. For deriving the dynamic equations related to the swing motion of crane, we introduced a conception of spring and damper in the upper part of the crane. During the crane and trolley is driving along the velocity profile, the swing motion of the spreader and crane will be simulated. The simulation result of the equation of motion using the Rung-Kutta method is presented in this paper. And we will show an effect of the swing of the crane in this research.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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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.

• 한국항만학회지
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• 제14권4호
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• pp.395-406
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• 2000

In this paper, an improved high efficiency gantry crane for container transportation is designed. The basic concept of the designed crane can be used with modification of the classical gantry crane instead of changing lots of them. This crane can reduce the cycle time more than the classical gantry carne. The high efficiency gantry crane can improve the productivity of the container transportation job because of reducing cycle time. The loading and unloading capability are compared with classical crane. The result show that show that the proposed crane has better performances than classical type.