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*,**,***Graduate School of Pukyong National University, Busan 608-739, Korea †Department of Mechanical System Engineering, Pukyong National University, Busan 608-739, Korea   :                  . 1990  RMGC  RTGC            .  RTGC         ,  ,                   RMGC    .   RTGC                .    RTGC               .   RTGC      .             . : RTGC, RMGC,   , , 2 Abstract :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 *  : , bada@pknu.ac.kr 010)8488-4098 ** , lds_dong@naver.com 010)5158-6227*** , fuheaven@nate.com 017)564-0129 † : , kpjiwoo@pknu.ac.kr 051)629-6197

A Study on Modelling and Tracking Control System Design of RTGC(Rubber-Tired Gantry Crane)