• Journal of the Korean Society of Marine Environment & Safety
• /
• v.28 no.7
• /
• pp.1201-1208
• /
• 2022

In general, to maximize the supply and efficiency of floating offshore wind power generation energy, the motion caused by wave attenuation of the substructure must be reduced. According to previous studies, the motion response was reduced due to the vortex viscosity generated by the damping plate installed in the lower structure among the waves. In this study, a 5 MW semi-submersible OC5 platform and two platforms with attenuation plates were designed, and free decay experiments and numerical calculations were performed to confirm the effect of reducing motion due to vortex viscosity. As a result of the model test, when the heave free decay tests were conducted at drop heights of 30 mm, 40 mm, and 50 mm, compared with the OC5 platform, the platform with two types of damping plates attached had relatively improved motion damping performance. In the model test and numerical calculation results, the damping plate models, KSNU Plate 1 and KSNU Plate 2, were 1.1 times and 1.3 times lower than OC5, respectively, and the KSNU Plate 2 platform showed about two times better damping performance than OC5. This study shows that the area of the damping plate and the vortex viscosity are closely related to the damping rate of the heave motion.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.13 no.3
• /
• pp.29-38
• /
• 2009

n the event of an earthquake, additional stresses can occur in the continuous welded rails (CWR) of High-speed railway (HSR) bridges due to relative displacements at expansion joints, and this stress can cause derailment. The amplification of ground motion occurs as a result of site effects, and this is pronounced at the site of a soft surface soil layer and of a rigid surface soil layer over a soft one. As a result, the amplified ground motion leads to an amplified seismic response in HSR bridges. A change in bridge pier height affects the seismic behavior of the bridge. A HSR bridge with gravel ballast tracks will show different dynamic behavior during an earthquake than one with concrete ballast tracks. The seismic responses of HSR bridges and their CWR are analyzed considering the derailment-inducing factors.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.19 no.2
• /
• pp.200-206
• /
• 2013

The paper was investigated on the mooring forces(or tension) and motion response characteristics for a 8-point mooring floating dock in regular waves using a commercial code(AQWA). To achieve the aim of the research, a numerical simulation was adapted on an inner port environment condition, which the water depth is 10 meters, significant wave amplitude(1.05 m). wave period(3.85 sec), wind speed(20.21 m/s), wind and current direction ($90^{\circ}$), incident waves(${\chi}=180^{\circ}$, $135^{\circ}$ and $90^{\circ}$). The dimension of the numerical model is length(140 m), breadth(32 m), depth(14.6 m). The maximum length of a mooring line is 120m. We can expected that roll and pitch motions appeared in beam seas better than head sea. the mooring forces also indicated higher in bean seas than in head seas including wind forces.

• Journal of the Society of Naval Architects of Korea
• /
• v.31 no.2
• /
• pp.65-77
• /
• 1994

This paper presents a derailed application procedure of the linear quadratic(LQ) theory for a SWATH heave and pitch control. A time domain model of coupled, linear time-invariant second order differential equations is derived from the frequency response model with the frequency dependent added mass and damping approximated as constant values at the heave natural frequency. Wave exciting forces are modeled as a sum of sinusoids. A systematic selection procedure of state and control weighting matrices is presented to obtain good transient behavior and acceptable fin movement. The validity of this controller design process is throughly investigated by simulations both in time domain and frequency domain and singular value plots of transfer function matrices. The finally designed control system shows good overall performances revealing that the applicability of the present study is proved successful.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1995.10a
• /
• pp.261-266
• /
• 1995

본 연구에서는 자기부상시스템에 대해 흡인식 자기부상방식을 채택하고 쇠구슬에 대한 운동을 상하 1자유도로 가정하여 운동방정식을 세운다. 이때 전자석이 자기 부상력은 전자석에 흐르는 전류와 인덕턴스의 함수라 가정하고, 모델의 불확실성은 자기부상계의 운동 방정식으로부터 선형화 할 때 발생하는 오차 및 파라미터 변동으로 생각한다. 또한 모델의 불확실성이 존재하더라도 정상편차 없이 부상하는 서보제어계를 설계한다. 그런데 저자등은 강인성 문제 및 정상편차 없는 것에 역점을 두어 H$_{\infty}$ 제어이론에 기초한 1형 로바스트 서보 제어기를 구하여 자기부상 시스템의 안정화 제어계로써 적용한 적이 있다. 이때 중심해 이외의 해를 이용하여 설계한 서보 제어계는 자기부상계의 과도상태시에 일어나는 오버슈트를 줄일 수 없었다. 따라서 시스템 내부 안정화를 위하여 H$_{\infty}$ 제어이론에 의해 설계된 피드백(feedback) 제어기와 물체가 부상할 때 오버슈트를 줄이고 제어량이 목표치에 잘 추종하기 위해 설계된 피드 포워드(feed forward) 제어기로써 2자유도를 갖는 제어계를 설계한다. 이렇게 설계한 2자유도 제어계를 가지고 모의 응답실험과 본 연구자들이 만든 자기부상 시스템의 실험결과를 비교함으로써 설계된 제어기의 타당성을 조사한다.

• Journal of the Society of Naval Architects of Korea
• /
• v.29 no.2
• /
• pp.48-59
• /
• 1992

In this paper, the effects of a skirt deformation on the responses of an Air Cushion Vehicle in waves are investigated. The air in the bag and in the plenum chamber is assumed to be compressible and to have a uniform instantaneous pressure distribution in each volume. The free surface deformation is determined in the framework of linear potential theory by replacing the cushion pressure with the pressure patch moving uniformly with an oscillating strength. And the bag-finger skirt is assumed to be deformed due to the pressure disturbance while its surface area remained constant. The restoring force and moment due to the deformation of bag-finger skirt from the equilibrium shape is included in the equations of hearse and pitch motions. The numerical results of motion responses due to various ratios of the bag and cushion pressure or bag-to-finger depth ratios are shown.

• Journal of the Society of Naval Architects of Korea
• /
• v.30 no.3
• /
• pp.75-89
• /
• 1993

The present paper describes an application of UA(Uncertainty Analysis) to seakeeping model test, basically according to the Performance Test Code of ASME(American Society of Mechanical Engineers), in which all the possible error sources involved in the preparation of test, calibration of instruments, data acquisition and analysis are quantified, and summed up with error propagation coefficients to the final uncertainties. The differences between the static test such as resistance and propulsion test and the dynamic test like seakeeping test are clearly identified during all the procedures of UA and asymmetric bias errors are considered. The DRE(data reduction equation) subject to present UA are the heave and pitch response amplitude operator and nondimensionalized absolute frequency. The usefulness of UA in seakeeping test were confirmed not only for quantifying errors and improving measurement accuracy but also for the validation of various seakeeping analysis tools.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.5
• /
• pp.497-504
• /
• 2012

The mobile harbor is a new innovative system that delivers containers from a containership to a harbor without good infrastructure. A crane is installed on the deck of the mobile harbor and transfers the containers. The structure of the crane is influenced by the inertia force that occurs from a moving support. Thus an accurate safety verification considering the moving support is required. Lightweight of the crane structure is also significant in the design for low production cost and efficient operation. Dynamic response optimization can be exploited to achieve these two requirements. Equivalent static loads method is employed for dynamic response optimization of the crane. The equivalent static loads method transforms dynamic loads to equivalent static loads, and static response structural optimization with the transformed equivalent static loads are solved. The process proceeds in a cyclic manner. A new method is proposed to consider the moving supports and the structure of the mobile harbor is optimized using the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.503-505
• /
• 1986

주어진 제어대상 모델에 대하여 제어기를 구성하여 실제로 적용하는 경우 모델의 불일치, 모델링에서 고려하지 않은 외란(disturbance), 측정잡음등에 의하여 성능이 설계시와 달라진다. 실제적용에서도 성능을 계속 유지하기 위하여 제어기는 안정성, 계수변화(parameter variation)에 대한 강인성(robustness), 외란상쇄(disturbance rejection) 및 측정잡음에 둔감함등의 특성을 가져야 한다. 귀환(feedback)을 사용하여 제어기를 구성하는 경우 위의 모든 조건을 만족 시킬 수 없으므로 제어목적에 따라 적당한 조건을 선정하여 중요한 특성을 주로 갖게 한다. 본 논문에서는 쌍동선(small waterplane area twin hull ship-SWATHS)에 대하여 PID, LQ, LQG 제어기를 구성하여 안정성, 계수 변화에 대한 강인성, 외란 상쇄 및 측정잡음의 영향을 비교하였다. 쌍동선의 경우 다른 단동선(mono hull ship)에 비하여 접수면(waterplane)이 적으므로 무게증변을 흡수할 수 있는 복원력이 약하여 적은 외력에도 상하동요(heave)와 종동요(pitch)가 심하게 일어난다. 이러한 동요를 줄이는 것이 쌍동선의 제어목적이다. 본 연구에서는 먼저 선형화된 수직축 운동방정식을 이용하여 선체운동의 모델을 구했으며 중첩의 원리(super-position theorem)에 의하여 주파수 응답의 합으로 파도입력을 모델링 하였으며 제어를 위하여 필요한 측정치는 IMU(Inertial Measurement Unit)에서 제공된다고 가정하였다. 쌍동선의 동요의 원인은 파도, 바람, 조류 등이 있으나 파도에 의한 영향이 가장 크므로 본 논문에서는 파도에 의한 영향만을 고려하였다. 파도는 쌍동선에 외란으로 작용하며 측정할 수 없는 양이므로 PID, LQ 제어에서는 제어모델에 포함되지 않지만 LQG 제어에서는 제어모델에 포함된다. LQG 제어의 경우 제어모델에 파도를 백색잡음으로 가정하고 제어기를 구성한 것 (LQG1)과 2차의 쉐이핑필터(shaping filter)를 사용하여 구성한 것(LQG2)으로 나누었다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2010.04a
• /
• pp.385-386
• /
• 2010

The ship's seakeeping performance in the pitching and roll motion was felt tired. These gives structural loads to loaded with cargo and hull facilities. Be to improve, small catamaran power yacht designed a data for ship research and ship's hull form to be decided. In this study, based on domestic release for coastal marine environment in the interpretation criteria were chosen based on the exercise performance. The seakeeping performance of marine leisure catamaran was based on voyage speed. The seakeeping performance estimates based on the encounter angle, the wave of the encounter frequency response amplitude ratio for exercise was assessed in the high performance area.