In this study, system modeling and dynamic analysis of crane are conducted. Especially, among many different kinds of a crane system, the issues on crane operating problems installed on the vessel are considered. As well known, marine systems including cranes are exposed to various disturbances such as vessel motions, hydrodynamic forces, wave and wind attack, etc. In order to analysis the system dynamic with environmental conditions, the authors derived the nonlinear dynamic model of offshore crane and derived a linear model which is used for designing the control system. Using the obtained nonlinear and linear models, simulations were conducted to evaluate the usefulness of the obtained models. By simulation and result evaluation, the usefulness of the linear model, which presents the dynamics, is effectively verified.

서 론
시험 및 방법
    시스템모델링
    기구학 해석
    동적 특성 표현
    유체력 특성 표현
    선형모델
결과 및 고찰
    시뮬레이션
결 론
References

• 이동훈(부경대학교 대학원 기계시스템공학과) | Dong-Hun LEE (Department of Mechanical System Engineering, the Graduate School, Pukyong National University)
• 김태완(부경대학교 대학원 기계시스템공학과) | Tae-Wan KIM (Department of Mechanical System Engineering, the Graduate School, Pukyong National University)
• 박환철(부경대학교 실습선) | Hwan-Cheol PARK (Training Ship Kaya, Pukyong National University)
• 김영복(부경대학교 기계시스템공학과) | Young-Bok KIM (Department of Mechanical System Engineering, Pukyong National University) Corresponding author