• Journal of Electrical Engineering and Technology
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• 제11권4호
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• pp.1027-1034
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• 2016

This paper proposes a sum of squares (SOS) method for anti-swing control of overhead crane system using HOSM (High-Order Sliding-Mode) observer. By representing the dynamic equations of overhead crane as the polynomial dynamic equations via Taylor series expansion, the control input is obtained from the converted polynomial dynamic equations by numerical tool SOSTOOL. Since the actual crane systems include disturbance such as wind and friction, we propose a method to compensate for the disturbance by estimating the disturbance using HOSM observer. Numerical simulations show the effectiveness and the applicability of the proposed method.

• 한국해양공학회지
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• 제20권6호
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• pp.114-122
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• 2006

The most important thing in the container terminal is to handle the cargo effectively in a limited time. To achieve this objective, many strategies have been introduced and applied. If we consider the automated container terminal, it is necessary that the cargo handling equipment is equipped with more intelligent control systems. From the middle of the 1990s, 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, equipment like CCD cameras and sensors have been mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes that make the cargo handling be performed effectively in the yards. For this plant, we ought to consider modeling, tracking control, anti-sway system design, skew motion suppressionand complicated motion control and suppressing problems. In this paper, the system modeling and a tracking control approach are discussed, based on a two-degree-of-freedom (2DOF) servo-system design. From the simulation results, the good control performance of the designed control system is evaluated.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.485-488
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• 2006

The most important thing in the container terminal 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. In this paper, the system modelling and a tracking control approach are discussed based on two-degree-of-freedom (2DOF) servosystem design.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.26-32
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• 2007

The most important thing in the container terminal 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. In this paper, the system modelling and a tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1287-1294
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• 2004

Automated container terminals have been being developed over the world for recent years and many countries are interested in it because the amount of containers exported or imported is rapidly increasing. The conventional container terminals were not designed to control this kind of heavily many containers. They would face many structural problems soon or later, although they have managed to do well so far. One of the most important things in developing automated container terminal is to develop the equipment able to handle many containers efficiently. Those are maybe automated transfer cranes, automatic guided vehicles, and automated quay-side cranes. The word 'automated' means the equipment is operated without drivers and those equipments are able to work without any interruption in working schedule. Through the researches on the conventional transfer cranes, we decided that the structure of the conventional transfer cranes is not efficient in automated container terminal and it's not possible to handle so many containers in limited time. Therefore we have been studying on the proper structure of the automated container crane for past several years and a new type of transfer crane has been developed. Design concept and control method of a new type of transfer crane had been presented in the previous paper: Part Ⅰ. Experimental features will be presented with a model transfer crane in this paper: Part Ⅱ.

• 동력기계공학회지
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• 제12권6호
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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.

• 한국컴퓨터정보학회논문지
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• 제20권1호
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• pp.237-246
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• 2015

본 논문에서는 컨테이너터미널에서 탠덤 리프트 안벽크레인과 고생산성 컨테이너 이송차량 Alternative ship-to-yard vehicles를 고려한 시뮬레이션을 활용하여 컨테이너터미널의 생산성 향상 모델을 제안한다. 이 방법의 특징은 탠덤 리프트 안벽크레인과 고생산성 컨테이너 이송차량의 데이터를 도출하고, 회귀분석 함으로써 탠덤 리프트 안벽크레인의 생산성 모델을 추정한다. 탠덤 리프트 안벽크레인은 한 사이클 당 20ft 컨테이너 4개, 40ft 컨테이너 2개를 동시에 취급함으로서 기존의 싱글 안벽크레인보다 이론상 약 2배의 컨테이너 생산성을 증가시키는 장비이고 Alternative ship-to-yard vehicles는 기존의 야드 트랙터보다 더 많은 최대 4TEU의 컨테이너를 운반시킬 수 있는 장비이다. 본 논문에서는 신기술 안벽장비인 탠덤 리프트 안벽크레인과 신기술 이송장비인 Alternative ship-to-yard vehicles를 적용한 시뮬레이션을 통하여 생산성에 관한 데이터를 도출하고 통계 기법인 회귀분석을 통하여 컨테이너 터미널의 생산성의 추정모델을 구해보고자 한다.

• 한국산학기술학회논문지
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• 제10권7호
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• pp.1520-1525
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• 2009

본 연구는 철강 회사의 기존 크레인의 위치 제어 시스템을 USN(Ubiquitous Sensor Network)과 GPS(Global Positioning System) 시스템으로 대체하기 위한 시뮬레이션을 수행한 것이다. 크레인의 위치 제어 시스템을 지상국과 차상국의 통제 시스템으로 구분하였으며, 하드웨어 시스템은 GPS위성으로부터 크레인의 위치 제어 데이터를 수신하는 GPS 수신기 모듈, 지상국과 차상국 간 통신을 하기 위한 블루투스 통신 모듈, 크레인의 위치를 정밀하게 제어하는 초음파 센서 모듈, 크레인의 롤러를 대체한 모터, GPS 수신기 모듈과 블루투스 통신 모듈, 초음파 센서 모듈을 제어하는 임베디드 MCU (ATmega1/28L) 등으로 구성하였으며, 소프트웨어 시스템은 GPS 위성으로부터 GPS 수신기 모듈에 수신된 데이터 중 GGA 출력 문장을 필터링하기 위한 프로그램, 초음파 센서 구동프로그램, 크레인의 위치를 실시간으로 모니터링 할 수 있는 디지털 지도 프로그램 등으로 구성하였다. 제안한 시스템은 위치제어를 1cm 간격으로 정확하게 조절이 가능함을 실험을 통해 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.249-252
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• 1997

In this paper the sway-control problem of a container crane is investigated in the perspective of controlling an underactuated mechanical system. For fast loading/unloading of containers from the ship, quick suppression of the remaining swing motion of the container at the end of each trolley stroke is crucial. Known nonlinearities are fully incorporated by feedback linearization. Robustness is enhanced by variable structure control. Compared with the linear LQ control, much better performance can be obtained.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.115-118
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• 2000

This paper describes the method to control the multimotor drive system with network. The LonWorks network which is a leading industrial control network is applied to the yard crane position control system driven by three motors. The host computer is able to control and monitor three motor drive systems in a yard crane through network. The performance of proposed method is verified on experiments with simulator of yard crane.