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Abstract This paper presents a tagline proportional–derivative control method for suppressing the swing motion of a heavy load suspended by a floating crane in an ocean environment. The tagline mechanism, which is connected between the floating crane and the heavy load, is applied to the floating crane. The winch, which is mounted on the deck of the floating crane, is used to control the tension of the tagline. A proportional–derivative control algorithm is applied to generate the control force of the winch. Swing angle feedback of the proportional–derivative control is supplied by the encoder attached at the boom tip of the floating crane. To demonstrate the performance of the tagline control method, numerical simulations are performed on a non-linear six-dimensional mathematical model of the floating crane and the heavy load. The mathematical model of the floating crane is constructed to consider both the three-degree-of-freedom principle of the floating crane and the heavy load, based on multi-body system dynamics. The numerical and experimental simulation results are compared using a one-hundredth-scale model of the floating crane in the model basin. The results of the numerical simulation and experiment show that the tagline proportional–derivative control method suppresses the swing motion of the load.
Publication Date 2013-11-01
Role Corresponding Author
Category SCIE
Impact Factor 0.444

Nam-Kug Ku, Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "A Tagline Proportional-Derivative Control Method for the Anti-Swing Motion of a Heavy Load Suspended by a Floating Crane in Waves", Journal of Engineering for the Maritime Environment, Vol. 227, No. 4, pp. 357-366, 2013.11.01


List of Articles
번호 분류 제목 Publication Date
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53 International Journal Ji-Hyun Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Integrated Engineering Environment for the Process FEED of Offshore Oil and Gas Production Plants", Ocean Systems Engineering, Vol. 2, No. 1, pp. 49-68, 2012.03.01 file 2012-03-01
52 Domestic Journal 차주환, 구남국, 노명일, 조두연, 이규열, "조선 공정 계획을 위한 시뮬레이션 모델의 모듈화 및 시나리오 처리 방법론", 한국CAD/CAM학회 논문집, Vol. 17, No. 1, pp. 17-25, 2012.02.01 file 2012-02-01
51 Domestic Journal 이준채, 차주환, 노명일, 황지현, 이규열, "LNG FPSO Topside의 액화 공정에 대한이중 혼합 냉매 사이클의 최적 운전 조건 결정", 대한조선학회 논문집, Vol. 49, No. 1, pp. 33-44, 2012.02.01 file 2012-02-01
50 Domestic Journal 구남국, 이준채, 황지현, 노명일, 이규열, "최적화 기법을 이용한 LNG FPSO 액화 공정 장비의 다층 배치", 대한조선학회 논문집, Vol. 49, No. 1, pp. 68-78, 2012.02.01 file 2012-02-01
49 Domestic Journal 송에스더, 노명일, "인클루시브 디자인 개념을 이용한 Emerald Princess호의 편의 지향 설계", 한국실내디자인학회 논문집, Vol. 21, No. 1, pp. 269-279, 2012.02.01 file 2012-02-01
48 International Journal Nam-Kug Ku, Ara Jo, Sol Ha, Myung-Il Roh, Kyu-Yeul Lee, "Automatic Generation of Equations of Motion for Multibody System in Discrete Event Simulation Framework", Procedia Technology, Vol. 1, No. 1, pp. 55-64, 2012.02.01 file 2012-02-01
47 International Journal Myung-Il Roh, Ju-Hwan Cha, "A Block Transportation Scheduling System Considering a Minimization of Travel Distance without Loading of and Interference between Multiple Transporters", International Journal of Production Research, Vol. 49, No. 11, pp. 3231-3250, 2011.06.01 file 2011-06-01
46 Domestic Journal 이주성, 장경식, 노명일, "등기하 해석법을 이용한 구조 해석", 한국전산구조공학회 논문집, Vol. 24, No. 1, pp. 55-60, 2011.06.01 file 2011-06-01
45 Domestic Journal 노명일, 임병석, '유전 알고리즘을 기반으로 한 조선소 블록 적치장의 재배치 최소화", 한국CAD/CAM학회 논문집, Vol. 16, No. 3, pp. 207-215, 2011.06.01 file 2011-06-01
44 International Journal Ju-Hwan Cha, Seung-Ho Ham, Kyu-Yeul Lee, Myung-Il Roh, "Application of a Topological Modelling Approach of Multi-body System Dynamics to Simulation of Multi-floating Cranes in Shipyards", Journal of Multi-body Dynamics, Vol. 224, No. 4, pp. 365-373, 2010.12.01 file 2010-12-01
43 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Integrated Simulation Framework for the Process Planning of Ships and Offshore Structures", Robotics and Computer-Integrated Manufacturing Journal, Vol, 26, No. 5, pp. 430-453, 2010.10.01 file 2010-10-01
42 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Dynamic Response Simulation of a Heavy Cargo Suspended by a Floating Crane Based on Multibody System Dynamics", Ocean Engineering, Vol. 37, No. 14-15, pp. 1273-1291, 2010.10.01 file 2010-10-01
41 Domestic Journal 차주환, 이준채, 노명일, 이규열, "LNG-FPSO에의 적용을 위한 Hamworthy Mark I Cycle의 최적 운전 조건 결정", 대한조선학회 논문집, Vol. 47, No. 5, pp. 733-742, 2010.10.01 file 2010-10-01
40 Domestic Journal 차주환, 하솔, 노명일, 이규열, "이산 사건/이산 시간 혼합형 시뮬레이션 모델 구조 기반 DEVS-HLA 인터페이스를 이용한 잠수함의 잠항 시뮬레이션", 한국CAD/CAM학회 논문집, Vol. 15, No. 4, pp. 279-288, 2010.08.01 file 2010-08-01
39 International Journal John-Kyu Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Detailed Design and Construction of the Hull of an FPSO(Floating, Production, Storage, and Off-loading unit)", Ships and Offshore Structures, Vol. 5, No. 2, pp. 93-104, 2010.06.01 file 2010-06-01
38 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Optimal Scheduling of Block Lifting in Consideration of the Minimization of Traveling Distance While Unloaded and Wire and Shackle Replacement of a Gantry Crane", Journal of Marine Science and Technology, Vol. 15, No. 2, pp. 190-200, 2010.06.01 file 2010-06-01
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36 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Combined Discrete Event and Discrete Time Simulation Framework and Its Application to the Block Erection Process in Shipbuilding", Advances In Engineering Software, Vol. 41, No. 4, pp. 656-665, 2010.04.01 file 2010-04-01
35 Domestic Journal 차주환, 노명일, 이규열, "이산 사건 및 역학 기반 이산 시간 혼합형 모델링에 의한 잠수함의 잠항 부상 시뮬레이션", 대한조선학회 논문집, Vol. 47, No. 2, pp. 248-257, 2010.04.01 file 2010-04-01
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