Development of a Crane System for High Speed Transportation in Container Terminal

J. Ocean Eng. Technol. 1998;12(4):124-131.

Min-Saeng Shin;Choong Hwan Lee;Sang-Bong Kim;

컨터이너 하역장에서 고속운송을 위한 크레인 시스템의 개발

신민생;이충환;김상봉;

양산대학교;쌍용자동차;부경대학교

Keywords: Container crane, trolley, optimal control, linear discrete system, minimal order observer,

핵심용어: 컨테이너 크레인, 트롤리, 최적제어, 선형 이산시스템, 최소자원관측기,

Abstract

In the control of a container crane system, the traversing time of the trolley must be reduced as much as possible and the swing of the grab must be stopped at the end point. For these requirements, usually the traversing interval is divided into three parts such as the accelerating interval, the constant speed interval and the decelerating interval, Since the container crane system used in the general industrial fields adopts single trolley, these requirements can not be satisfied so far easily. In this paper, to satisfy those requirements and to avoid the problem controlled by the separation of the traversing interval, a crane system with two trolleys is proposed and the utility of the proposed crane is demonstrated through the experimental results.