• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.112-117
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• 1997

This paper presents a GA(Genetic Algorithms)-Optical control strategy for the control of the swing motion and the transverse position of the overhead crane. The overhead crane system is defined uncertain due to unknown system parameters such as payload and trolly mass. To control the overhead crane. the GA-Optimal control scheme is suggested. which transfers a trolly to a desired place as fast as possible and minimizes the swing of the payload during the transfer. The genetic algorithms are applied to fine digital optimal feedback gains. A computer simulation demonstrate the performance of the proposed the GA-digital optimal controller for the overhead crane.

• 동력기계공학회지
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• 제12권6호
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• pp.36-41
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• 2008

A crane is very important mechanical systems in industrial applications to move huge objects. Especially, in marine port terminals, it is used to place container boxes at desired position within given operating time. However, such system is faced with environmental disturbance such as wind from the sea, thus crane control system is required to cope with this nature. This paper proposed robust and adaptive control algorithm of a complicated 3D crane against the environmental disturbance. We simplify a mathematical design procedure to derive our control algorithm. We conduct real-time experiment using a crane simulator to evaluate its superiority and reliability.

• 디지털산업정보학회논문지
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• 제8권2호
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• pp.11-19
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• 2012

Crane systems have been widely used for transportation in building sites, ports, nuclear wastehandling operation and so on. As a typical underactuated system, an overhead crane has such merits as high flexibility and less energy consumption. And it's getting more types of cranes, universally applicable algorithms should be developed. That is the design and development of scalable algorithms are required. Developed algorithms can be used for the controller and crane overload protection that meets the requirements of the algorithm are presented. These algorithms force the state to warn the operator and stops the operation of equipment. In this paper, crane overload conditions that can cause damage to alert the operator, and to limit the operation of equipment overload protection algorithm is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.283-283
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• 2000

In this paper, we deals with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry crane's characteristics, the system is decentralized into two subsystems such as the travelling and sway subsystem, and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using observability canonical form. The decentralized subsystems include unknown input which coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques and those estimated values are used to construct an input compensation form. Lastly, the proposed decentralized control scheme far the gantry crane systems is verified by crane simulation.

• 전기학회논문지
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• 제62권3호
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• pp.407-413
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• 2013

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

• 한국해양공학회지
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• 제18권6호
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• pp.101-107
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• 2004

In this paper, the design criteria of future container crane for megaships are investigated. The current loading/unloading capacity of a typical container crane, roughly 30 moves/hr, is too law to meet the requirements of future super containerships, which are expected over 15,000 TEU. After examining the transition of containerships through the years and studying the research trend in developed countries, the specifications of the container crane that can Meet a 15,000 TEU containership are proposed. The structure, trolley and hoist mechanism, outreach, backreach, capacity, speeds, durability, and stability of the future container crane are described.

• Advances in Computational Design
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• 제4권4호
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• pp.343-365
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• 2019

Among the themes related to earthquake countermeasures at construction sites, those for tower cranes are particularly important. An accident involving the collapse of a crane during the construction of a skyscraper has serious consequences, such as human injury or death, enormous repair costs, and significant delays in construction. One of the causes of deadly tower crane collapses is the destruction of the site joints of the tower crane mast. This paper proposes a new design method by static elastoplastic finite element analysis using a supercomputer for the design of the end plate-type tensile bolted joints, which are generally applied to the site joints of a tower crane mast. This new design method not only enables highly accurate and reliable joint design but also allows for a design that considers construction conditions, such as the introduction of a pre-tension axial force on the bolts. By applying this new design method, the earthquake resistance of tower cranes will undoubtedly be improved.

• 한국기계가공학회지
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• 제20권3호
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• pp.83-91
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• 2021

A crawler crane, which consists of a lattice boom, a driving system, and a movable vehicle, is widely used on construction sites. The crawler crane often traverses rough terrain at these sites; as a result, an overload limiter needs to be installed on the crane to prevent it from overturning and breaking. In this paper, we studied the distributed load change in relation to boom length and the angle of rotation of the roller that comes in direct contact with the grounded track shoe. First, we developed a 3D model of a crawler crane and meshed it for finite elements. Then, we performed finite element analysis to derive the load on the roller. Finally, we graphed and examined the roller distributed load data of the case according to boom length and rotation angle. By detecting the load on the roller of the crawler crane, we can predict the potential for the crane to overturn before it happens.

• Journal of Ship and Ocean Technology
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• 제3권2호
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• pp.27-48
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• 1999

The paper is concerned with application to develop the expert system, which structural analysis and design process for tower cranes. The system is organized into three groups. One is pre-processor for creating input data files, another is `model former' which combines knowledge-base with inference engine for automatic generating structural analysis models, a third is application group for final analysis checks. In this study, geometric subroutine of `model former' designates node positions, nodes, elements numbers and element types. Load data subroutine computes weight of tower crane and device, slewing force, cargo load, wind force form rules or equations in knowledge-base. Also, Property and boundary subroutine applies element properties and boundary conditions to suitable elements and nodes. Design and analysis expert system for tower crane integrates these subroutine, `model former' and pre-processor. RBR(Rule-Base Reasoning) was adopted for a reasoning strategy of this expert system. And this expert system can produce structural analysis model and data, which can be used in ordinary structural analysis program (SAP, ADINA or NASTRAN, etc.). In this paper, this expert system produces format of the analysis model data, which are used in MSC/NASTRAN. The main discussions included in the paper are introduction of the tower crane and structural analysis, composition of the design expert system for tower crane and structural analysis using the expert system.

• 조명전기설비학회논문지
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• 제23권2호
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• pp.115-124
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• 2009

본 논문은 컨테이너 크레인의 속도 및 위치의 고성능 제어를 위하여 적응 퍼지제어를 제안하였다. 컨테이너 크레인의 전동기는 에너지 및 환경문제에 대한 강인성을 갖는 가변속 드라이브인 SynRM으로 설정하였다. 종래의 PI 제어기는 파라미터 변동 및 외부환경에 의하여 트롤리의 정확한 위치, 속도와 sway 각을 제어하는데 어려움이 있다. 이러한 문제점을 해결하기 위해 본 논문에서는 적응 퍼지제어를 설계하여 크레인에 적용된 SynRM 드라이브의 성능을 분석하였다. 본 논문에서는 종래의 PI 제어와 적응 퍼지제어의 위치 및 속도 응답특성을 분석하고 비교함으로써, 논문의 타당성을 입증하였다.