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Abstract In shipyards, ships and offshore structures are constructed by joining several blocks on the dock. For this, a gantry crane generally conduct block erection operation including the lifting, turn-over, and lowering procedure. During the erection operation, the operator controls the trolleys, crane girder, and wire ropes to control the motion of the block to the certain trajectory and the orientation. The gantry crane lifting a block is an underactuated mechanical system, which has more degrees of freedom than control inputs. Therefore, the traditional control theories are not applicable to the operations of block erection. In this study, a method for the controller design of the gantry crane is proposed for the trajectory tracking control of the block. Then, the simulation based on the multibody dynamics is performed to analyze the motions of the crane and the block. The result has shown that the motion of the block is successfully controlled during the operation.
Publication Date 2019-09-22
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 International Symposium on PRADS(Practical Design of Ships and Other Floating Structures) 2019, Yokohama, Japan, 2019.09.22-26


List of Articles
번호 분류 제목 Publication Date
368 Domestic Conference 김진혁, 노명일, 공민철, "증강 현실 기술을 이용한 장비의 원격 운영 및 유지 보수 방법", 2019년도 대한조선학회 추계학술발표회, 경주, pp. 196, 2019.10.24-26 file 2019-10-24
367 Domestic Conference 오민재, 노명일, 김범수, 김용환, "선박의 운항 효율을 고려한 선형 변환 방법", 2019년도 대한조선학회 추계학술발표회, 경주, pp. 480, 2019.10.24-2019.10.25 file 2019-10-24
366 Domestic Conference 전도현, 노명일, 이혜원, 하지상, 진은석, 김인일, "딥 러닝 기반 자율 운항 선박의 충돌 회피 방법 연구", 2019년도 대한조선학회 추계학술발표회, 경주, pp. 429, 2019.10.24-26 file 2019-10-24
365 Domestic Conference 이혜원, 노명일, 함승호, 전도현 "블록의 탑재 제어를 위한 갠트리 크레인의 제어기 설계 고도화", 2019년도 대한조선학회 추계학술발표회, 경주, pp. 139, 2019.10.24-26 file 2019-10-24
364 International Conference Jisang Ha, Myung-Il Roh, Jong-Hyeok Lee, Jin-Hyeok Kim, Min-Chul Kong, Seung-Ho Ham, "Integrated Ship Remote Operating System Based on Digital Twin Technology", Proceedings of TEAM 2019, Tainan, Taiwan, pp. 106, 2019.10.14-17 file 2019-10-16
363 International Conference Luman Zhao, Myung-Il Roh, Hye-Won Lee, Do-Hyun Chun, Sung-Jun Lee, "A Collision Avoidance Method of Multi-ships Based on Deep Reinforcement Learning Considering COLREGs," Proceedings of ICCAS 2019, Rotterdam, Netherlands, pp. 85-88, 2019.09.24-26 file 2019-09-24
362 International Conference Sung-Jun Lee, Myung-Il Roh, Min-Jae Oh, Youngsoo Seok, Won-Jae Lee, June-Beom Lee, Hyun Soo Kim, "Image-based Object Detection and Tracking Method for Ship Navigation," Proceedings of ICCAS 2019, Rotterdam, Netherlands, pp. 89-92, 2019.09.24-26 file 2019-09-24
361 International Conference Ki-Su Kim, Myung-Il Roh, "Optimal Arrangement Method of a Ship Considering the Performance against Flooding", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
» 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
359 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Control of the Underactuated Gantry Crane for the Block Erection Operation in the Shipyard", MIM 2019, Berlin, Germany, 2019.08.28-30 file 2019-08-29
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