http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
컨테이너 크레인의 흔들림 제어 (Part II): 트롤리 주행속도 조절을 통한 진자운동의 제어
홍금식,손성철,이만형,Hong, Keum-Shik,Sohn, Sung-Chull,Lee, Man-Hyung 제어·로봇·시스템학회 1997 제어·로봇·시스템학회 논문지 Vol.3 No.2
Six different types of velocity profiles of trolley movement of a container crane are investigated for the minimal sway angle at the target trolley position. Three velocity patterns which include trapezoidal, stepped and notched-type velocity patterns are obtained assuming constant rope length. The notched type velocity pattern is shown to be derived from the time-optimal bang-bang control. The stepped type velocity pattern can be shown to be derived as bang-off bang control as well. Considering the damping effect due to hoist motion a double stage acceleration pattern is also analyzed. The main objective of the paper is to show how much time-reduction can be obtained among several velocity patterns appearing in the literature.
Development and Control Strategies of an Unmanned Autonomous Forklift
홍금식(Keum-Shik Hong),김민환(Min-Hwan Kim),이석(Suk Lee),김성신(Seong-Sin Kim),홍봉희(Bong Hee Hong),위디오트리앗모 아우기(A. Widyotriatmo),브이티탄 규엔(Quyen T. T. Bui),이정훈(Jung Hun Lee),탐바 투아 아구스티누스(Tua A. Tamba) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper presents the control strategies for the development of an unmanned autonomous forklift. A control architecture using several sensors (vision, ultrasonic sensor, laser range finder, etc.) and a PC controller is presented. An ultrasonic satellite and gyro are used for the localization, and a vision system is utilized for obstacle detection and the measurement of pallet position. The CAN communication network is utilized to provide the drive-by-wire technology for the unmanned autonomous forklift.
컨테이너 크레인의 흔들림 제어 ( Part I ) : 모델링, 제어전략, 기준선도를 통한 오차 피이드백 제어
홍금식,손성철,이만형,Hong, Keum-Shik,Sohn, Sung-Chull,Lee, Man-Hyung 제어·로봇·시스템학회 1997 제어·로봇·시스템학회 논문지 Vol.3 No.1
The sway control problem of pendulum motion of a container hanging on a Portainer Crane, which transports containers from a container ship to trucks, is considered in the paper. The equations of motion are obtained through the Lagrange mechanics and simplified for control purposes. Considering that the fast traveling of trolley and no residual swing motion of the container at the end of acceleration and deceleration are crucial for quick transportation, several velocity patterns of trolley movement including the time-optimal control are investigated. Incorporating the change of rope length, a reference swing trajectory is introduced in the control loop and the error signal between the reference sway angle and the measured sway angle is feedbacked. Proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.
홍기용(Gi-Yong Hong),응오 꽝 히오(Quang Hieu Ngo),홍금식(Keum-Shik Hong) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
The offshore container crane is used to load/unload containers between a huge container ship (called the “other ship” and a smaller ship (called the “obile harbor”, on which the crane is installed. The purpose of the mobile harbor is to load/unload containers in the open sea and transport them to shallower water where they can be offloaded at existing conventional ports, thereby obviating the need for expansive and expensive new facilities. In the paper, the pendulum motion (i.e., “way” of the load in the presence of the waveinduced movements (heave, roll, and pitch) of the mobile harbor is discussed. A Stewart platform and 3D pilot crane have been used to demonstrate the ship and pendulum motions to verify the dynamics of the offshore container crane.
Note on behavior of a coupled nonautonoumous ordinary differential equation
홍금식,한명철,이석,윤중선,Hong, Keum-Shik,Han, Myung-Chul,Lee, Suk,Yun, Joong-Sun Institute of Control 1995 제어·로봇·시스템학회 논문지 Vol.1 No.1
결합된 시변 상미분 방정식의 해외 점근적 성질에 관한 연구이다. 리아프노프 직접 방법에 의하면 평등 안정성(uniform stability)만 얻어졌을 경우이지만, 추가적으로 상태 벡터 중 일부가 0으로 점근적 수렴함을 보이는데 있다. 얻어진 결과는 특히 불변원리(invariance principle)가 성립하지 않는 시변 시스템에 유용하다.