조수간만의 차를 고려한 하역시스템의 능동제어

초록

This paper proposes a new cargo system adapted for time-varying tide. As a preliminary phase, a small-sized model of the cargo system is designed and constructed. The model consists of three principal components ; container palette transfer car, ER valve-cylinder for the position control of the platform, and cargo ship. The platform activated by the ER valve-cylinder is actively controlled to track the position of the cargo ship subjected to be varied due to the time-varying tide and wave motion. Following the establishment of the dynamic model for the platform motion, an appropriate control scheme is formulated and implemented. Both the simulated and measured control results are presented in order to demonstrate the effectiveness of the proposed cargo system.