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해상크레인으로 인양하는 중량물의 Tagline 제어를 위한 다물체계 동역학 시뮬레이션 및 실험
구남국,이규열,권정한,차주환,함승호,하솔,박광필,Ku, Nam-Kug,Lee, Kyu-Yuel,Kwon, Jung-Han,Cha, Ju-Hwan,Ham, Seung-Ho,Ha, Sol,Park, Kwang-Phil 한국시뮬레이션학회 2010 한국시뮬레이션학회 논문지 Vol.19 No.1
This paper describes tagline PD control for reduction of motion for the heavy cargo(load) suspended by a floating crane. The equations of motion are set up considering the 6-degree-of-freedom floating crane and the 6-degree-of-freedom load based on multi-body system dynamics. The tagline mechanism is applied to floating crane to control motion of the heavy cargo(load). The winch, mounted on the deck of floating crane, is used to control the tension of tagline. To generate control force, PD control algorithm is applied. Numerical simulation and experiment is executed to verify the tagline control mechanism. The numerical simulation and experiment shows that the tagline control mechanism reduces the motion of the load suspended by a floating crane.