POSCO Yard Crane Automation
| Authors: | Won Sangchul, POSTECH, Korea, Republic of
Kim Sang-un, POSTECH, Korea, Republic of
Choi Seung-Gap, POSCO, Korea, Republic of
Choi Chintae, RIST, Korea, Republic of |
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| Topic: | 6.2 Mining, Mineral & Metal Processing |
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| Session: | Automation of Mining Vehicles and Equipment in Metal Industry |
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| Keywords: | Crane, Position control, Anti-sway control, Recognition system |
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Abstract
This paper describes an integrated approach for crane automation atthe Kwangyang steel works, POSCO. Unmanned cranes are composed of severaltechnologies,which include anti-sway control, precision position control, optimaltrajectory computation, and coil shape recognition. Crane position while travelingand the traverse axis are controlled by PID position controllers. In order to preventswaying during crane operation, the sway angle is consistently suppressed from thestart point to the destination using an anti-sway algorithm. For optimal trajectorycontrol, 3-axis motion was analyzed and variable speed drives were used. A 3Dobject recognition system for picking up coils, based on stereo vision, is in progress.Some of the described control strategies have been successfully applied to the 10-1crane in the No. 4 CGL (Continuous Galvanizing Line) of POSCO.
