용달선의 횡동요를 억제하기 위한 곡선레일의 수평유지장치 개발

A delivery ship is used to handle the cargo with the crane to/from the ships. The ship is inclined in the direction of a cargo which is hung on a crane. In this case, an arc shaped rail should be in the equilibrium state to get good anti-rolling performance. In this study, a device and control algorithm are developed to take accurate and quick equilibrium of the rail. The device is composed of a hinged immovable support and two screw jacks. And the control algorithm demands two controllers. One controller is designed such that the screw jack I and 2 follow the position reference signal generated by a tilt sensor. The other controller of two-degree-of-freedom is designed to remove the synchronous en-or occurred between jack I and jack 2. The simulation results show that the desirable control performance is achieved.