This paper proposed the simulation model of the servo system with three-stage reducer and presented the result of frequency analysis of the servo system considering backlash ratios and motor input voltage. By virtue of this work, we realized that if the motor input voltage of the system was large, the influence of each stage backlash ratio could be minimized or removed. Besides, we also found that if the motor input voltage was small, this created an optimal backlash ratio combination which could maximize the anti-resonance and resonance frequency of the servo system. This paper could be useful for determining each stage backlash ratio in designing a three-stage geared servo system with fast response.

Mobile harbor which is a novel concept of ocean transportation to bring the containers from the cargo ship waiting on the ocean away is being focused now. To provide the mobile harbor with the stable loading/unloading condition, it is necessary to develop the oscillation mitigation technologies such as anti-rolling system. Anti-rolling system using AMD(Active Mass Driving) has merits that it can handle the disturbances more actively and mitigate the rolling oscillation faster than other type anti-rolling system. However, rack-and-pinion type AMD has problems such as big friction noise from gears and motor, wear and tear, and continuous maintenance. In this paper, novel anti-rolling system using Maglev type AMD for mobile harbor is suggested in order to resolve the problems caused by the friction. This novel anti-rolling system doesn’t make any friction because it supports the moving mass by using magnetic levitation force and moves it by using propulsion force from the linear motor. The demo system of the novel anti-rolling system using maglev type AMD has been developed in order to investigate its feasibility. This paper presents the procedures and results of development of this demo system.