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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


  1. Min-Jae Oh, Myung-Il Roh, "Hull Form Surface Generation Using T-Spline", Proceedings of the 31st Asian-Pacific TEAM 2017, Osaka, Japan, 2017.09.25-28

  2. Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Jongoh Kim, Hogyun Park, Jeongyoul Lee, "A Method of Variable Recognition and Connection for Reviewing Ship Regulations", Proceedings of ICCAS 2022, Yokohama, Japan, pp. 171-175, 2022.09.13-15

  3. Min-Chul Kong, Myung-Il Roh, Jisang Ha, Mijin Kim, Jeoungyoun Kim, "A Method for the Generation of Optimal Patterns for Equipment Unit Modules in the Engine Room", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20

  4. Min-Chul Kong, Myung-Il Roh, Jisang Ha, Jeong-Ho Park, EunSeok Jin, Donghun Yu, "Integrated Navigation Assistance System Using Augmented Reality", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10

  5. 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

  6. Min-Chul Kong, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, Jeongyoul Lee, Jongoh Kim, Gapheon Lee, "A Detection Method of Objects with Text in Drawings Based on Deep Learning", Proceedings of ISOPE 2023, Ottawa, Canada, 2023.06.19-23

  7. Min-Chul Kong, Myung-Il Roh, In-Chang Yeo, In-Su Han, Dongki Min, Dongguen Jeong, "Methods for Graph Conversion and Pattern Recognition for P&IDs", Proceedings of IMDC 2024, Amsterdam, Netherland, 2024.06.02-06

  8. No Image 17Jun
    by
    in Conference Chairman

    Mechanics & Collision I, ISOPE(International Society of Offshore and Polar Engineers) 2017, San Francisco, USA, 2017.06.25-30

  9. Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Hardware-In-the-Loop Simulation for the Design and Testing of an Active Compensation System on an Offshore Supply Vessel", Proceedings of SUTTC 2016, Beijing, China, 2016.09.26-30

  10. Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Hardware-In-the-Loop Simulation for a Heave Compensator of an Offshore Support Vessel", Proceedings of OMAE 2016, Busan, Korea, pp. 1-5, 2016.06.19-24

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