• Title/Summary/Keyword: 종동요

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Suppression of Coupled Pitch-Roll Motions using Quasi-Sliding Mode Control (준 슬라이딩 모드 제어를 이용한 선박의 종동요 및 횡동요 억제)

  • Lee, Sang-Do;Cuong, Truong Ngoc;Xu, Xiao;You, Sam-Sang
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.27 no.2
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    • pp.211-218
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    • 2021
  • This paper addressed the problems of controlling the coupled pitch-roll motions in a marine vessel exposed to the regular waves in the longitudinal and transversal directions. Stabilization of the pitch and roll motions can be regarded as the essential task to ensure the safety of a ship's navigation. One of the important features in the pitch-roll motions is the resonance phenomena, which result in unexpected large responses in terms of pitch and roll modes in some specific conditions. Besides, owing to its inherent characteristics of coupled combination and nonlinearity of restoring terms, the vessel shows various dynamical behaviors according to the system parameters, especially in the pitch responses. Above all, it can be seen that suppression of pitch rate remains the most significant challenge to overcome for ship maneuvering safety studies. To secure the stable upright condition, a quasi-sliding mode control scheme is employed to reduce the undesirable pitch and roll responses as well as chattering elimination. The Lyapunov theory is adopted to guarantee the closed stability of the pitch-roll system. Numerical simulations demonstrate the effectiveness of the control scheme. Finally, the control goals of state convergences and chattering reduction are effectively realized through the proposed control synthesis.

Responses of a roll-pitch coupled nonlinear system to the primary resonance of the roll mode (횡동요 모드와 주공진 된 횡-종동요연성 비선형계의 응답)

  • 오일근
    • Journal of Ocean Engineering and Technology
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    • v.11 no.3
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    • pp.107-115
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    • 1997
  • 비성형 동력학계로 모델링된 부유수송체의 동적응답을 조사하고 그 운동의 안정성을 해석하였다. 종동요 모우드의 고유주파수가 횡동요 모우드의 고유주파수의 두배가 되는, 즉, 2:1 내부공진 혹은 자기계수공진인 조건하에서, 이부유수송체는 한 운동 모우드의 직접가진에 의해 간접가진된 다른 모우드가 대진폭 응답을 보일 수 있음을 밝혔다. 또항, 종동요 모우드의 감쇠력은 비교적 넓은 범위의 운동에 대해 선형적임에 반해, 횡동요 모우드의 감쇠력은 점성의 영향이 대단히 커서 비선형성이 대단히 강한 것으로 알려져 왔다. 이 문제를 수학적으로 모델링하기 위하여, 종동요 모우드의 운동방정식에는 선형및 제곱형의 합의 형태인 감쇠력 모형을 사용하였다. 다중척도법을 사용하여 이 두가지 운동 모우드의 주기적 응답및 그의 안정성에 미치는 제곱형 비선형 횡동요 감쇠력의 영향을 밝혔다. 조우주기가 횡동요 모우드의 고유주기와 근사한 경우에 대하여 이 비선형계의 응답을 구하고 주파수-응답 곡선으로 나타내었다.

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Higher Order Spectral Analysis of Non-linear Pitching Motion (고차스펙트럼을 이용한 선체 종동요의 비선형적 거동에 관한 해석)

  • Kang, Byung-Ho;Carlos, Miguel Mejia;Kim, Tae-Ho;Park, Jun-Mo;Kong, Gil-Young
    • Journal of Navigation and Port Research
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    • v.41 no.1
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    • pp.1-8
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    • 2017
  • The estimation of non-linear ship motion is one of the most important issues in recent studies of ship stability. In this paper, bispectral analysis and bicoherence analysis were introduced in order to analyze the non-linear ship motion. In addition to the previously observed non-linear pitching motion in following seas, this study observed the non-linear phase coupling of pitching motion in following & quartering seas, and starboard beam seas. By comparing phase coupling between each frequency quantitatively via the bicoherence analysis, it was confirmed that non-linear phase coupling was much stronger in frequency regions other than the peak frequencies of a power spectrum. Furthermore, it was found out that the results of bicoherence calculation were analagous to each other, although the different normalization methods were applied.

Analysis on the Pitch Response Spectra of a Catamaran with Bulb (벌브를 가진 쌍동형 선박의 종동요 응답 스펙트럼 분석)

  • Seo, Kwang-Cheol;Lee, Chang-Woo;Atlar, Mehmt;Lee, Gyoung-Woo;Gim, Ok-Sok
    • Journal of Navigation and Port Research
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    • v.37 no.5
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    • pp.481-486
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    • 2013
  • In this study, a commercial seakeeping program Seakeeper, integrated into Maxsurf, which is based on the linear strip theory was employed to compare the effect of bulbous bow (with/without) on motion response characteristics in a 18-meter catamaran. The seakeeping analyses were conducted at several Beaufort wind conditions such as scale No. 3 ($\bar{T}=2.98s$, $H_{1/3}$ =0.6m), No. 4 ($\bar{T}=3.85s$, $H_{1/3}$ =1m) and No. 5 ($\bar{T}=5.44$, $H_{1/3}$ =2m) based on ITTC wave spectrum. Pitch motion response spectrum was calculated at Head sea, Head & bow sea and Beam sea as encounter angles. Hull form of a catamaran with bulb showed the maximum 20% decrease of pitch motion response as compared to that of hull form without bulb.

A Study on the Characteristics of Motion Response of Stern Trawlers in Following Seas (선미식 트롤선의 추파중 선체동요특성에 관한 연구)

  • Kang, Il-Kwon;Park, Byung-Soo
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.38 no.3
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    • pp.226-233
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    • 2002
  • In the field of research of sea keeping quality, much development has been made in recent years using the method of calculation based on the strip theory. It is very important to investigate the hull response of a fishing vessel in waves to ensure the safe navigation and fishing operation in rough seas by preserving excellent sea keeping qualities. For this purpose, the author measured various responses of three fishing vessels in waves using real sea experimental measuring system and analyzed the experimental data The results obtained can be summarized as follow. 1. The amplitudes of pitching motion in the experiments appeared low values with more than one peak occasionally in following sea and quartering sea, and the band width of those was found to be wide relatively. 2. The amplitudes of rolling motion in the experiments appeared high values with only one peak in following sea and quartering sea regardless of ship's tonnage, and the band width of those was found to be narrow relatively. 3. The comparisions of theoretical results with those of experiments for the pitching motions and rolling motion in following sea and quartering sea show that the theoretical values are higher slightly than those of experiments in both directions and the period at which the peak appears in the calculations and the experiments has good agreement approximately 4. The calculated responses of two vessels under a assumed wave of 2.2m height and 5.0sec period showed that the response of pitching motion of ship-A are 2.2 times bigger than those of ship-C in following sea and quartering sea, and the response of rolling motion of ship-A is 4.2 times bigger than that of ship-C in quartering sea.

On the motion characteristics of small trawler in trawling job and sailing (소형 트롤 어선의 예망과 항해중의 동요특성)

  • Kang, Il-Kwon;Kim, Hyung-Seok;Kim, Jung-Chang;Kim, Min-Seok;Jo, Hyo-Jae;Lee, Chun-Ki
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.40 no.4
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    • pp.311-318
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    • 2004
  • It is very important for the safe navigation and fishing operation to ensure the hull response of a fishing vessel in rough seas. This is an experimental study on the dynamical characteristics of ship's motion during operating job and sailing in the real sea. The experiments were carried out on the small stern trawler in operating job and sailing, and then the ship's roll and pitch motion were simultaneously recorded by P/C according to the wave directions. From these data, the statistical properties and power spectra were obtained and the analysis of ship's motions in the both case were made. The results obtained are summarized follows : (1) The amplitudes of pitch motion don't appear a big different between trawl job and sailing, but at bow seas, its in sailing have a tendency to increase more than in trawl job. The amplitudes of roll motion appear a bog different between trawl job and sailing, but at beam sea, that slightly decreasing tendency. (2) The peak period of pitch motion in trawl job and sailing change, but that of roll motion don't change according to the direction of waves. (3) The warp tention cause the motion of hull to be reduce, if the tention of each side have a ballance.

KVLCC2의 천수역에서의 자세변화에 대한 실험적 연구

  • Yun, Geun-Hang;Yeo, Dong-Jin;Park, Byeong-Jae
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • pp.85-87
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    • 2013
  • 깊이가 제한된 천수역을 운항하는 선박의 경우, 선저면의 동유체력변화로 인해 선박의 흘수가 증가하는 스쿼트 현상이 나타난다. 본 연구에서는 KVLCC2선형을 대상으로 H/T(Depth/Draft) = 2.0, 1.5, 1.2의 천수조건에서 모형선의 속도변화, 프로펠러 유무에 따른 모형선박의 상하동요, 종동요 자세변화를 계측하였다. 또한 계측된 모형선의 상하동요변화는 Tuck/Huuska, Barrass 2, Eryuzlu 등의 경험식에 따른 결과와 비교하여 그 유효성을 검증하였다.

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Estimation of Hydrodynamic Derivatives of Submarine Model by Using VPMM Test (VPMM 시험을 이용한 잠수함 모형의 유체력 미계수 추정)

  • Jung, Jin-Woo;Jeong, Jae-Hun;Kim, In-Gyu;Lee, Seung-Keon
    • Journal of Navigation and Port Research
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    • v.38 no.2
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    • pp.97-103
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    • 2014
  • In these days, the world has been increasing navy forces such as aircraft carriers and high-tech destroyers etc. and the importance of submarines is being emphasized. Therefore, accurate values of the derivatives in equations of motion are required to control motion of the submarines. Hydrodynamic derivatives were measured by the vertical planar motion mechanism(VPMM) model test. VPMM equipment gave pure heave and pitch motion respectively to the submarine model and the forces and moments were acquired by load cells. As a result, the hydrodynamic derivatives of the submarine are provided through the Fourier analysis of the forces and moments in this paper.