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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
120 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
119 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
118 International Conference Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Deep Reinforcement Learning-Based Ship Collision Avoidance Considering Collision Risk", Proceedings of TEAM 2022, Istanbul, Turkey, pp. 268, 2021.12.06-07 file 2021-12-07
117 International Conference Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Method for Automatic Control of Cranes for Block Lifting in Shipyard", Proceedings of PRADS 2022, Dubrovnik, Croatia, pp. 64, 2022.10.09-13 file 2022-10-09
116 International Conference Min-Chul Kong, Myung-Il Roh, Jisang Ha, Eun Seok Jin, Donghun Yu, "Design of the Integrated System for the Safe Operation Based on Augmented Reality", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 file 2022-10-12
115 International Conference Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, Min-Jae Oh, Sejin Oh, "Estimation Model of Hydrodynamic Performance Using Hull Form Variation and Deep Learning", Proceedings of PRADS 2022, Dubrovnik, Croatia, pp. 82, 2022.10.09-13 file 2022-10-09
114 International Conference Jisang Ha, Myung-Il Roh, Ki-Su Kim, Min-Chul Kong, "Integrated Method for the Arrangement Design of a Ship for Implementing Digital Twin in Design", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 file 2022-10-10
113 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Method for the Accurate and Automatic Operation of Offshore Floating Cranes for the Block Erection in Shipyards", Proceedings of OMAE 2020, Held in Virtual Conference, 2020.08.03-07 file 2020-08-05
112 International Conference Jisang Ha, Myung-Il Roh, Hye-Won Lee, Jong-Ho Eun, Jong-Jin Park, Hyun-Joe Kim, "A Method of the Collision Avoidance of a Ship Using Real-time AIS Data", Proceedings of ACSMO 2020, Seoul, Korea, pp. 106, 2020.11.23-25 file 2020-11-23
111 International Conference Ki-Su Kim, Myung-Il Roh, "Optimization of the Arrangement Design of a Ship Considering the Multiple Performance", Proceedings of ACSMO 2020, Seoul, Korea, pp. 167, 2020.11.23-25 file 2020-11-24
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