• Proceedings of the KSR Conference
• /
• 2007.05a
• /
• pp.886-892
• /
• 2007

This paper presents examples of trolley wire resistance influential on the movement of tensioning devices. Therefore, this study is on the examples of trolley wire resistance which keep tensioning devices from working properly to the expansion and contraction in accordance with temperature change of overhead trolley wire system such as messenger wire and contact wire. Trolley wire resistance interrupts the working of tensioning device and drops the capacity of trolley wire. Reduced trolley wire capacity lowers the performance of current collection and has a bad effect on electrical train operation. So it is desirable to reduce the factors increasing trolley wire resistance to the minimum from the designing and construction stage of overhead trolley wire system. This study will introduce this problem and suggest the solution.

• Proceedings of the KSR Conference
• /
• 2011.10a
• /
• pp.3059-3064
• /
• 2011

A Trolley line is a very important equipment among electric railway equipments since it contacts directly with pantograph and supplies electricity on the electromotive. Such it was thought that a trolley line need not to consider fatigue since the replace cycle by wear is shorter than the replace cycle by fatigue breakage. But, the bending fatigue breakage accidents occurred several times at the Shinkansen trolley line in East Japan Railway Company. Therefore, in case of a new developed trolley line, the evaluation for bending fatigue life became more important, But, since there are not an authorized fatigue test method and a testing device for the trolley line, the quantitative evaluation is difficult. In this study, we analyzed the load and environment condition of trolley line used in the actual spot and the developed testing device that can evaluate bending fatigue properties of the trolley line as simulating the real condition. The bending fatigue test of the trolley line was achieved using the developed testing device and estimated the fatigue life of trolley line and also, established the fatigue test process.

• Journal of Navigation and Port Research
• /
• v.33 no.5
• /
• pp.331-337
• /
• 2009

Container crane is main equipment in container terminals and it determines the productivity and the efficiency of container terminals. The typical type of container cranes has the single trolley and one among advanced types of them has the dual trolley. The objective of this paper is to analyze the buffer size of a container crane with the dual trolley in container terminals. We present a simulation model for analysing the buffer space of a container crane with the dual trolley. The buffer space is located between main trolley in sea-side and second trolley in yard-side. We performs various simulation experiments and analyze the buffer size to estimate the required productivity.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2022.11a
• /
• pp.815-817
• /
• 2022

This paper is about the development of an automatic stair climbing trolley for carrying loads without manpower. The design of tri-wheeled structure and center of mass enable the trolley to move on flat ground and also to ascend stairs by self-balancing. The overall design enables the trolley to avoid collision to walls when the trolley rotates on domestic landings. When the camera recognizes the stair, the sensor measures distance from the trolley to the stair. Then the trolley can move to align itself in the middle of the stair and it starts climbing. It can ascend to a specific floor based on the floor number entered by the user. As a result, the automatic stair climbing trolley is expected to help humans by protecting from accidents of dropping loads and saving their power. It is also expected to use for various purposes such as delivering packages, moving and carrying heavy loads in buildings without elevator.

• Journal of Korean Association for Spatial Structures
• /
• v.16 no.4
• /
• pp.83-89
• /
• 2016

Middle size of membrane retractable roof is under 25m span which consists of various moving systems. Trolley is the system that leads the membrane to parking place, transferring the load from the membrane to structural cable. When membrane closes roof completely, thus, structural behavior of trolley, which may contain various material with different friction coefficients, should be investigated by vertical load. Nummerical simulation of trolley prototypes, in this research, was performed by incrementation of vertical load. Consequently, this paper studied proper friction characteristics and provided the effective inner materials of trolley.

• Journal of Korean Association for Spatial Structures
• /
• v.20 no.4
• /
• pp.53-62
• /
• 2020

This study examines the optimum shape of a trolley, the driving device of the retractable membrane roof. The closed-type trolley was determined as the model of the study, and a trolley composed of cylindrical-shaped inner and outer holders was selected as the basic model. Based on this model, a cylindrical-based optimal trolley model was proposed. In the basic trolley model, steel was used for the outer holder, and steel, titanium, and aluminum were used for the inner holder. In each case, the most economical shape for the external load of the basic model was newly proposed through the topology optimization process, and the finite element analysis results of the proposed model were compared to define the durability and economics. Here, topology optimization analysis and finite element analysis used the commercial software ANSYS. As a result of optimization, the volume of the outer holder of the trolley was reduced by 58.2% and the volume of the inner holder was reduced by 25.0% compared to the basic model. In the case of stress, a stress increase of 43.2 to 79.2% occurred depending on the material of the inner holder, but it was found to be significantly lower than the yield strength, thereby ensuring safety.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 1998.10a
• /
• pp.159-165
• /
• 1998

In this paper the sway-control problem of a container crane is investigated. The control loop is divided into two stages. The first stage is a modified time optimal control for trolley traversing. The velocity command for trolley traversing consists of three components ; a reference velocity and two feedback signals for compensating the deviations of trolley and sway angle from their desired trajectories. For trolley's exact positioning the trolley dynamics is identified via an error equation identifier structure. The second stage is a nonlinear residual sway control that starts at the end of first stage. The control design for the second stage is investigated from the perspective of controling an underactuated system, and the control law combines the feedback linearization and variable structure control.

• Journal of Advanced Marine Engineering and Technology
• /
• v.32 no.6
• /
• pp.948-954
• /
• 2008

Now, but task for stringing trolley wire is worked manually by a measurement of dip, we need to development the automatic control system for a safety and effective tasks. In this paper, in works of stringing trolley wire by a mobile of robot, a method is proposed tension control for the stringing trolley wire. On the basics of a wire model with hard nonlinear, ac servo motor model for torque generating and stringing wire tension, the tension control scheme is design and implemented with a detected wire tension by a load cell. We experimentally show that the performance of the tension response are satisfactory to regulator tension. The proposed system is simulated and experimented, results is verified the utilities.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2004.11a
• /
• pp.297-302
• /
• 2004

This paper analyzed productivity of quay cranes on container terminal that have perpendicular yard layout block. In most existing container terminals, quay cranes of single trolley type are used to loading and unloading containers, but quay crane productivity of these type has many limitation about large size containership. For these reasons, recently quay cranes of various type that mn improve productivity are developed and as the representative example, dual trolley, double trolley, supertainer are developing. These cranes are realized that very high productivity bemuse their cycle time is short more than existent single trolley quay crane. Therefore, we analyzed productivity of these cranes that are realized by next generation crane alternatives and as result qf this research, mechaniml productivity by cycle time and net productivity by simulation were measured.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.2
• /
• pp.297-304
• /
• 1997

This paper presents a systematic design method of an anti-swing control law for overhead cranes. A velocity servo system for the trolley of a crane is designed based on the dynamics of the trolley and its load. The velocity servo system compensates for the effects of load swing on the trolley dynamics so that the velocity servo is independent of load swing. The velocity servo system is used for the design of a position servo system for the trolley via the loop shaping method. The position servo system and the swing dynamics of the load are then used to design an angle control system for load swing based on the root locus method. The combined position servo and the angle control systems constitute the overall control system. In the presence of low frequency disturbances, the proposed control law guarantees accurate position control for the trolley and fast damping for load swing. Furthermore, the performance of the proposed control law is independent of the mass of the load. Experimental results on a prototype crane show the effectiveness of the proposed anti-swing control law.