Modelling and Accurate Tracking Controller Design of A Transfer Crane

J. Ocean Eng. Technol. 2006;20(6):114-122.

Kim, Young-Bok;Suh, Jin-Ho;Lee, Kwon-Soon;

Faculty of Engineering, Pukyong National University;Pohang Institute of Intelligence Robotics;Dept. of Electric Engineering, Dong-A University;

트랜스퍼 크레인의 모델링 및 고정도 주행제어기 설계에 관한 연구

김영복;서진호;이권순;

부경대학교 공과대학 기계공학부;포항지능로봇연구소;동아대학교 공과대학 전기공학과;

Keywords: 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 소보계, 주행제어

Abstract

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.