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트랜스퍼 크레인의 모델링 및 고정도 주행제어기 설계에 관한 연구
김영복(Y. B. Kim),최문석(M. S. Choe),서진호(J. H. Suh),이권순(K. S. Lee) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many' strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, 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, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, we ought to consider modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems. In this paper, the system modelling and a tracking control approach are discussed based on two-degree-of-freedom (2DOF) servosystem design. From the simulation results, the good control performance of the designed control system is evaluated.