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박명욱(Mingxu Piao),김경한(Gyoung-Hahn Kim),Umer Hameed Shah,홍금식(Keum-Shik Hong) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.6
This paper discusses the dynamics and control problem of an overhead shuttle system (OSS), which is a critical part of the automated container terminal at a port. The main purpose of the OSS is efficient automated transport function of containers, which also requires high precision and safety. A major difference between the OSS and the conventional container crane is the configuration of the cables for hoisting the spreader. A mathematical model of the OSS is developed here for the first time, which results in an eight-pole system. Also, open loop control methods (trapezoidal and notch-type velocity profiles) are investigated so that the command input to the overhead shuttle produces the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the OSS is superior to the conventional overhead container crane, which is partially due to the cable configuration.
Input Shaping 기술을 이용한 핵연료이송시스템의 수중이동 시의 진동제어
박명욱(Mingxu Piao),샤 우마 하미드(Umer Hameed Shah),전재영(Jae Young Jeon),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2013 제어로봇시스템학회 각 지부별 자료집 Vol.2013 No.8
핵연료이송장치는 원자력발전소에서 사용되는 핵연료봉을 이송하는 장비로써, 핵연료의 특성상 그 이동이 수중에서 이루어져야 한다. 현재까지 대기(大氣) 상태에서의 화물이송에 관한 이론 및 시스템은 오랫동안 연구되어 왔으나 매질(수중 혹은 대기중)에 따른 이송장치의 동특성 및 최적제어에 관한 연구는 활발히 이루어 지지 않고 있다. 본 논문은 물속의 저항성분을 고려하여 마스트의 진동을 줄이기 위해 핵연료이송장치의 구동시스템을 파악하고자 하였다. 먼저, 수중 이송시스템의 수학적 모델을 구축하였다. 그리고 수조실험을 통해서 시스템 수평운동 시 발생하는 진동을 해석을 하였다. 마지막으로 연료봉의 진동을 줄이기 위해 Input Shaping 방법을 적용하고, 이에 따른 시간최적제어를 유도하였다.
박명욱(Mingxu Piao),김경한(Gyoung-Hahn Kim),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.10
In this paper, a super-twisting (i.e., modified 2nd-order) sliding mode control (STSMC) is proposed for sway control of an offshore container crane system (i.e., a mobile harbor system equipped with a container crane on it). The mobile harbor is used for ship-to-ship transfer of containers, where the container ship is anchored in an open sea. To load/unload the containers in an open sea, it is necessary to suppress the position error of the load caused by the wave-induced movements of the mobile harbor. In this paper, a super-twisting sliding mode controller is developed for suppressing the position error of the payload. The sliding surface is designed in such a way that the longitudinal sway of the load is incorporated within the trolley dynamics. The chattering problem is also solved by utilizing a second order sliding surface. Lyapunov function-based stability analysis is performed to prove the uniform stability of the closed-loop system. Simulation results are provided to prove the effectiveness of the proposed control law.
입력성형기법을 이용한 핵연료이송시스템의 수중이동 시의 진동제어
박명욱(Mingxu Piao),샤 우머 하미드(Umer Hameed Shah),전재영(Jae Young Jeon),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
In this paper, residual sway control of objects that are moved underwater is investigated. The fuel transfer system in a nuclear power plant transfers the nuclear fuel rods underwater. The research on the dynamics of the loads transferred in different mediums (water and air) and their control methods have not been fully developed yet. The attenuation characteristics of the fuel transfer system have been studied to minimize its residual vibration by considering the effects of hydrodynamic forces acting on the fuel rod. First, a mathematical model is derived for the underwater fuel transfer system, and then experiments have been conducted to study the dynamic behavior of the rod while it travels underwater. Lastly, the residual vibration at the end point is minimized using the input shaping technique.