• Journal of the Society of Naval Architects of Korea
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• v.50 no.4
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• pp.199-205
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• 2013

To research and develop an azimuth thruster, the new type of open water test dynamometers to measure thrust, torque, total thrust and duct force are designed and manufactured by Samsung Ship Model Basin(SSMB). A compact servomotor to be accurately controlled is connected to precise spiral bevel gear through shafting system combined by couplings and main shafts. The dynamometers have shown excellent linearity and repeatability for all components of forces and a torque. Also, the open water tests have been successfully performed to show the performance of the system. In near future, it is expected that the device can be used for the study of scale effects and development of azimuth thrusters.

• Journal of the Society of Naval Architects of Korea
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• v.55 no.3
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• pp.196-204
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• 2018

Present paper shows the basic design procedure for platform support vessel operating in open sea, and hull form development process. General design concept considering the operating mission, operating sea condition and shipping freight, etc. is explained shortly. For the hull form design, the initial hull form was designed based on the reference PSVs. The resistance and propulsion test results for the initial hull form with twin Azimuth thruster were analyzed and a few items for improvement were derived. At the next stage, main parameters including Length, Cp-curve, Cb, Lcb, etc. were changed totally for the hull form improvement. Furthermore, 3 different bulbous bows for the fore-body design to reduce the wave resistance and after-body design to reduce the residual resistance were carried out. The best hull form among the 3 fore-bodies with same after-body was selected through the comparison of wave resistance calculation results. Twin ducted Azimuth thruster with the smaller propeller diameter than the former were adapted to increase the propulsive efficiency. The final hull form with the twin Azimuth thruster was evaluated to satisfy more than the target design speed 14 knots in sea condition with sea margin 15% at the 5,000kW BHP through the model test in KRISO.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.2
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• pp.181-187
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• 2018

In order for the probe to perform ocean exploration and survey research, it is necessary to adjust the position of the ship as desired by dynamic positioning system. The dynamic positioning system of T/S NARA is applied to K-POS dynamic positioning system of Kongsberg, which makes maintaining the ship's position, changing position and heading control possible. T/S NARA is not capable of dynamic positioning if one or more propulsive forces are lost with DP Level One. However, it is predicted that dynamic positioning can be achieved even at the time of missing one thrust in a good sea condition. Therefore, we want to analyze the effect of each propulsion on the performance of dynamic position system. When one of the bow thruster and azimuth thrusters lost their propulsion, maintaining the ship's position, changing position and heading control performance were compared and analyzed. If the situation occurred disable from using the bow thruster, they can not maintain ship's position. Azimuth thruster was influential for the ship's position control and bow thruster was influential in heading control. The excellent dynamic positioning performance can be achieved, considering the propulsion power that will have a impact on each situation in the future.

• Journal of Power System Engineering
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• v.11 no.1
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• pp.33-38
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• 2007

Recent, The propeller had high performance according as high performance of small ship. So, We has the development for azimuth thrusters. This Paper has structure improvement of steering support flange in azimuth thrusters. Steering support flange is very important part. because, Steering support flange supports all weight of azimuth thrusters. We has static & dynamic analysis of Steering support flange, and we discover the very safety. So, We has optimum design for the cost reduction. The first method of optimum design, We has the thickness reduce to 30mm from 5mm. Next method of optimum design, We had added stiffener. And we has the structure & dynamic behavior analysis. We had to dynamic behavior analysis. The first, We had to modal analysis. The result of 1st-modal analysis is that original model had to 76.48hz and new model had to 200.9hz. The second, We had to harmonic analysis. The result, We gave the thrust power to steering support flange. and We had to frequency analysis to $0{\sim}500hz$. The result, Deflection ration reduce to 16.64.

• International Journal of Aeronautical and Space Sciences
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• v.4 no.1
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• pp.75-87
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• 2003

The primary objective of this study is to demonstrate ground-based experiment for the attitude control of spacecraft. A two-axis rotational simulator with a flexible ann is constructed with on-off air thrusters as actuators. The simulator is also equipped with payload pointing capability by simultaneous thruster and DC servo motor actuation. The azimuth angle is controlled by on-off thruster command while the payload elevation angle is controlled by a servo-motor. A thruster modulation technique PWM(Pulse Width Modulation) employing a time-optimal switching function plus integral error control is proposed. An optical camera is used for the purpose of pointing as well as on-board rate sensor calibration. Attitude control performance based upon the new closed-loop control law is demonstrated by ground experiment. The modified switching function turns out to be effective with improved pointing performance under external disturbance. The rate sensor calibration technique by Kalman Filter algorithm led to reduction of attitude error caused by the bias in the rate sensor output.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.127-129
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• 2015

극지해역 운항선박은 주 추진시스템 및 선박 장비들이 일반 상선과 다른 경우가 많다. 따라서 극지운항 선박의 기관사들은 각종 장비 및 시스템에 친숙해져야 할 필요가 있다. 이 연구에서는 교육 및 훈련을 통해 극지 운항 선박에 승선하는 기관사관의 자질 향상을 통해 극지운항 선박의 안전운항을 도모하는데 있다. 또한, 그러한 자질 향상을 위해 필요한 Ice Engineer 교육 프로그램 방안을 모색하였다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.1
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• pp.129-137
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• 2016

In the present study we verified performance of feed-forward control algorithm using short term prediction of ship motion information by taking advantage of developed numerical simulation model of FPSO motion. Up until now, various studies have been conducted about thrust control and allocation for dynamic positioning systems maintaining positions of ships or marine structures in diverse sea environmental conditions. In the existing studies, however, the dynamic positioning systems consist of only feedback control gains using a motion of vessel derived from environmental loads such as current, wind and wave. This study addresses dynamic positioning systems which have feedforward control gain derived from forecasted value of a motion of vessel occurred by current, wind and wave force. In this study, the future motion of vessel is forecasted via Brown's Exponential Smoothing after calculating the vessel motion via a selected mathematical model, and the control force for maintaining the position and heading angle of a vessel is decided by the feedback controller and the feedforward controller using PID theory and forecasted vessel motion respectively. For the allocation of thrusts, the Lagrange Multiplier Method is exploited. By constructing a simulation code for a dynamic positioning system of FPSO, the performance of feedforward control system which has feedback controller and feedforward controller was assessed. According to the result of this study, in case of using feedforward control system, it shows smaller maximum thrust power than using conventional feedback control system.

• Journal of the Society of Naval Architects of Korea
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• v.46 no.6
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• pp.659-666
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• 2009

Recently, there are several problems in space, contiguity and facility of the existing harbors issued due to the trend of enlarging the container capacity of the large container vessel, the Mobile Harbor has been proposed conceptually as an effective solution for those problems. This concept is a kind of transfer loader of the containers from the large container ship, which is a floating barge with a catamaran type in the underwater part, and so prompt maneuverability and work effectiveness. For the safe mooring of two floating bodies, a container and the mobile harbor, in the near sea apart from the quay, a robot arm mooring facility specially devised would be designed and verified through comparison study under various environmental sea condition in the inner and outer harbor. DP system (Dynamic Positioning System) using the azimuth thruster and a pneumatic fender, etc, will be considered as a next research topic for the mooring security of multi-body floaters.