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Controller Design of a Gantry Crane for the Safe Erection of Blocks in Shipyards

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Practical Design of Ships and Other Floating Structures (PRADS 2019)

Part of the book series: Lecture Notes in Civil Engineering ((LNCE,volume 65))

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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.

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Acknowledgments

This work was partially supported by (a) Brain Korea 21 Plus Program, (b) Research Institute of Marine Systems Engineering of Seoul National University, Republic of Korea.

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Authors and Affiliations

  1. Seoul National University, Seoul, Republic of Korea

    Hye-Won Lee, Myung-Il Roh & Do-Hyun Chun

  2. Changwon National University, Changwon, Republic of Korea

    Seung-Ho Ham

Authors
  1. Hye-Won Lee
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  2. Myung-Il Roh
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  3. Seung-Ho Ham
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  4. Do-Hyun Chun
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Corresponding author

Correspondence to Myung-Il Roh .

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Editors and Affiliations

  1. Faculty of Engineering, Yokohama National University, Yokohama, Kanagawa, Japan

    Tetsuo Okada

  2. School of Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan

    Katsuyuki Suzuki

  3. Faculty of Engineering, Yokohama National University, Yokohama, Japan

    Yasumi Kawamura

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Lee, HW., Roh, MI., Ham, SH., Chun, DH. (2021). Controller Design of a Gantry Crane for the Safe Erection of Blocks in Shipyards. In: Okada, T., Suzuki, K., Kawamura, Y. (eds) Practical Design of Ships and Other Floating Structures. PRADS 2019. Lecture Notes in Civil Engineering, vol 65. Springer, Singapore. https://doi.org/10.1007/978-981-15-4680-8_17

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  • DOI: https://doi.org/10.1007/978-981-15-4680-8_17

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-4679-2

  • Online ISBN: 978-981-15-4680-8

  • eBook Packages: EngineeringEngineering (R0)

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