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Abstract Ships and offshore structures are constructed by joining several parts called blocks, which are the basic unit for production in the shipyard. The block erection operation includes block lifting, turnover, and lowering procedure, and generally conducted by cranes such as gantry crane. During the operation, the position and the orientation of the block should be precisely controlled by the crane to avoid any potential risks such as collision. However, the control of the gantry crane, which consists of crane girder, upper and lower trolleys, and several hooks is a challenging problem as it is an underactuated mechanical system. The underactuated mechanical system has a lower number of control inputs than the degrees of freedom, and many traditional non-linear control methods are not directly applicable to the control problem of inverse dynamics. In this study, the trajectory tracking control for the block erection and turn-over operation by the gantry crane is simulated. For the trajectory tracking control, the desired system outputs are modeled as servo constraints, and the differential algebraic equations (DAEs) for the underactuated system are formulated using the constraints. Then, the index reduction by the minimal extension method is adopted to reduce the index of the DAEs for stable numerical integration. Finally, the control method is applied to the multibody dynamics formulation, and the simulation based on the multibody dynamics is performed for the block erection and turn-over operation. The results show that the motion of the block is successfully controlled to the target trajectory during the operation.
Publication Date 2019-08-29
Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Control of the Underactuated Gantry Crane for the Block Erection Operation in the Shipyard", MIM(Manufacturing Modelling, Management and Control) 2019, Berlin, Germany, 2019.08.28-30

List of Articles
번호 분류 제목 Publication Date
30 International Conference Ji-Hyun Hwang, Ju-Hwan Cha, Seung-Ho Ham, Bo-Ram Kim, Myung-Il Roh, Kyu-Yeul Lee, "Establishment of Offshore Process FEED Method for Oil-Based FPSO Topsides Systems", Proceedings of ISOPE 2009, Osaka, Japan, pp. 144-150, 2009.06.21-26 file 2009-06-21
29 International Conference Ji-Hyun Hwang, Joon-Ho Min, Young-Joo Ahn, Hee-Chang Kim, Myung-Il Roh, Kyu-Yeul Lee, "Optimized Methodology to Build an Integrated Solution to Offshore Topside Process Engineering", Proceedings of ISOPE 2008, Vancouver, Canada, 2008.07.06-11 file 2008-07-06
28 International Conference Jeong-Woo Hong, Seung-Ho Ham, Luman Zhao, Xing Li, Sol Ha, Myung-Il Roh, "Offshore Installation of Subsea Equipment Considering Elasticity of the Crane Boom in Harsh Environment", Proceedings of ISOPE 2015, Hawaii, USA, 2014.06.21-26 file 2015-06-23
27 International Conference Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Obstacle Detection and Tracking of Unmanned Surface Vehicles Using Multi-view Images in Marine Environment", Proceedings of ICCAS 2022, Yokohama, Japan, 2022.09.13-15 2022-09-13
26 International Conference Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Detection and Tracking Methods of Maritime Obstacles Using Multiple Cameras", Proceedings of ICDM 2022, Siheung, Korea, 2022.04.28-29 2022-04-28
25 International Conference In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "A Method for Automatic Berthing of a Ship Using LIDAR", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20 file 2023-10-19
24 International Conference In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, "An Optimization Method of the Surround-View Camera System for Automatic Berthing of Ships", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10 2022-11-06
23 International Conference Hye-Won Lee, Seung-Ho Ham, Jeong-Woo Hong, Sol Ha, Myung-Il Roh, "Motion Analysis of a Heavy Load Suspended by a Floating Crane Using Constraint-based Wire Rope based on Discrete Variational Method", Proceedings of the 28th Asian-Pacific TEAM 2014 file 2014-10-15
22 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Do-Hyun Chun, "Controller Design of a Gantry Crane for the Safe Erection of Blocks in Shipyards", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
21 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Bo-Woo Nam, "Coupled Analysis of the LNG Offloading Operation Based on Multibody Dynamics", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 file 2022-10-09
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