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J. Ocean Eng. Technol. 2006;20(5):57-62.    

An Experimental Study on the Accurate Tracking Control of a Transfer Crane Based on the 2DOF Servosystem Design Approach
Kim, Young-Bok;Lee, Kwon-Soon;Han, Seong-Hoon;
Faculty of Engineering, Pukyong National University;Dept. of Electric Engineering, Dong-A University;Graduate School, Dong-A University;
트랜스퍼 크레인의 고정도 주행제어에 관한 연구 : 2자유도 서보계 설계법을 이용한 제어계 설계 및 실험적 연구
김영복;이권순;한승훈;
부경대학교 공과대학 기계공학부;동아대학교 공과대학 전기공학과;동아대학교 대학원;
Copyright © 2006 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Key Words: Rail-mounted gantry crane RMGC, Rubber-tired gantry crane RTG, Automated container terminal, Two-degree-of-freedom(2DOF) servosystem, Tracking control
핵심용어: 자동화 컨테이너 터미널, 2자유도 서보계 설계법, 주행제어
Abstract
The most important thing in acontainer terminal is to handle the cargo effectively in the limited time available. To achieve this objective, many strategies have been introduced and applied. To create an automated container terminal, it is necessary for the cargo handling equipment to be equipped with more intelligent control systems. From the middle of the 1990's, automated rail-mounted gantry cranes (RMGC) and rubber-tired gantry cranes (RTG) have been widely used to handle containers in yards. Recently, many pieces of equipment, like CCD cameras and sensors, have beenmounted in these cranes to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes, which allow for more effective cargo handling in yards. For this purpose, the modeling, 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 modeling and a new tracking control approach are discussed, and an experimental study is performed based on a two-degree-of-freedom (2DOF) servosystem design.


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