한국소성가공학회:학술대회논문집 (Proceedings of the Korean Society for Technology of Plasticity Conference)
- 한국소성가공학회 2004년도 제5회 압연심포지엄 신 시장 개척을 위한 압연기술
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- Pages.126-133
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- 2004
크레인 무인 자동 운전 시스템 개발
Development of Automatic Coil-Handling Crane Control System
- Choi Chintae (Department of Mechanical & Electrical Engineering , RIST) ;
- Shin K. (Research Laboratories, WINXEN)
- 발행 : 2004.08.01
초록
Lots of researches and applications on the automated overhead cranes in shops have been done for some decades, but a few successful results are reported. Integrated crane control systems designed by famous engineering companies are still expensive and are not satisfactory in view of maintenance and reliability. A more reasonable control system fit to requirements of manufacturing industries is suggested in the study. The new deigned system has superior capabilities for anti-sway of rope and position control. The controller for automated operations is composed of a Linux-based PC for non real-time control and a high-speed PLC for hard real-time control. Some algorithms required for coil yard operations as well as main control algorithms such as reference position generation, position control and anti-sway control have been designed and fully tested on the new crane simulator. The designed crane control system showed satisfactory performance on position control accuracy and anti-sway of rope. The maximum positional error is 8mm and the maximum sway error is 0.1 degrees. The suggested control strategies have been successfully applied to the 10-1 crane in No. 4 CGL of in the Kwangyang Steel Works and in commercial operation.