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- W2035243375 abstract "*,**,***Graduate School of Pukyong National University, Busan 608-739, Korea †Department of Mechanical System Engineering, Pukyong National University, Busan 608-739, Korea 요 약 :컨테이너의 신속한 이송 및 처리는 작업시간 단축에 의한 비용절감을 의미하므로 항만에서는 가능한 작업효율을 향상시키기 위해 다양한 노력이 추진되고 있다. 1990년대 중반부터 RMGC 및 RTGC 등의 크레인이 개발되어 컨테이너 이송 및 적재를 위한 필수장비로 널리 이용되고 있다. 특히 RTGC는 타이어 구동방식이므로 주행환경에 크게 제약을 받지 않는 장점도 있으나, 타이어 슬립, 타이어에 의한 샤시의 기울어짐 등 설정된 경로를 고정도로 주행해야 하는 목적달성에 장애가 되는 요인도 많아 레일 위를 주행하는 RMGC에 비해 자동화가 용이하지 않다. 이것은 무인 RTGC 시스템 구축을 어렵게 하는 가장 큰 요인이 되어 이와 관련한 기술개발 또한 미비한 수준에 이르고 있다. 따라서 본 논문에서 RTGC의 무인자동화에 있어서 가장 기초단계라고 볼 수 있는 수학적 모델링을 기반으로 한 고정도 주행제어기를 설계하고자 한다. 먼저 제어대상인 RTGC의 주행에 따른 운동특성을 분석하여 모델링을 수행한다. 기본적인 주행성능을 달성하기 위한 주행제어기를 설계하고 시뮬레이션을 통해 설계된 제어기의 유용성을 확인하도록 한다.핵심용어 : RTGC, RMGC, 자동화 컨테이너 터미널, 주행제어, 2자유도 서보계Abstract :To handle container effectively is one of the most important factors in a port because working time is linked soon into cost. Since the middle of 1990s, RMGC(Rail-Mounted Gantry Crane) and RTGC(Rubber-Tired Gantry Crane) have been developed and widely used to operate containers in the yard. The RTGC is more difficult than RMGC in the automatic control system design. Although, the RTGC is largely advantaged to free driving environment, it has some considerable disadvantages in the system operating. In general, the problems are due to tire slip and lack of tire pressure etc. Therefore, a desirable research result has not been shown in this time. So, in this paper, we propose a new approach to design tracking control system for the RTGC in which the mathematical modeling is included. From the simulation results, the control performance of the designed control systems is evaluated.Key words :RTGC(Rubber-Tired Gantry Crane), RMGC(Rail-Mounted Gantry Crane), ACT(Automatic Container Terminal), tracking control, Two-degree-of-freedom(2DOF) servosystem * 대표저자 : 연회원, bada@pknu.ac.kr 010)8488-4098 ** 학생회원, lds_dong@naver.com 010)5158-6227*** 학생회원, fuheaven@nate.com 017)564-0129 †교신저자 : 연회원, kpjiwoo@pknu.ac.kr 051)629-6197" @default.
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- W2035243375 date "2010-08-31" @default.
- W2035243375 modified "2023-09-25" @default.
- W2035243375 title "A Study on Modelling and Tracking Control System Design of RTGC(Rubber-Tired Gantry Crane)" @default.
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- W2035243375 doi "https://doi.org/10.5394/kinpr.2010.34.6.479" @default.
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