• Proceedings of the KSME Conference
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• 2002.08a
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• pp.201-204
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• 2002

This paper describes the hydrodynamic characteristics of a test-bed AUV SNUUV-I constructed at Seoul National University. The main purpose of the AUV is to carry out fundamental control and hydrodynamic experiments. Its configuration is basically a long cylinder of 1.35m in length and 0.25m in diameter with delta-type wings near its rear end. On the edge of each wing, a thruster of 1/4HP is mounted, which is used for both drive and turn the vehicle for horizontal movement as the output control power is varied. A pair of control surfaces installed near its font part generates pitch moments for vertical movement. The 6 DOF mathematical model of SNUUV-I contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients. These coefficients can be classified into linear damping coefficients, linear inertial coefficients and nonlinear damping coefficients. It is important to estimate the exact value of these coefficients to control the vehicle precisely. Among these, the linear coefficients are known to affect the motion of the vehicle dominantly. The linear damping coefficients are estimated by using Extended Kalman Filter. The responses of the vehicle to input signals are used to estimate the hydrodynamic coefficients, which can be inferred from output signals measured from an IMU (inertial motion unit) sensor, while the linear inertial coefficients are calculated by a potential code. By using these coefficients estimated as described above, a simulation program is constructed using Matlab.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.6
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• pp.331-344
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• 2020

Ship's hydrodynamic coefficients in manoeuvring equations are generally derived by captive model tests or numerical calculations. Empirical formulas have been also proposed in some previous researches, which were useful for practical predictions of hydrodynamic coefficients of a ship by using main dimensions only. In this study, ship's hydrodynamic coefficients based on empirical formulas were optimized by using its free running test data. Eight manoeuvring performance indices including steady turning radius, reach in zig-zag as well as well-known IMO criteria indices are selected in order to compare simulation results with free runs effectively. Sensitivities of hydrodynamic coefficients on manoeuvring performance indices are analyzed. And hydrodynamic coefficients are tuned within fixed bounds in order of sensitivity so that they are tuned as little as possible. Linear and nonlinear coefficients are successively tuned by using zig-zag and turning performance indices. Trajectories and velocity components by simulations with tuned hydrodynamic coefficients are in good agreements with free running tests. Tuned coefficients are also compared with coefficients by captive model tests or RANS calculations in other previous researches, and the magnitudes and signs of tunes are discussed.

• Journal of Ocean Engineering and Technology
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• v.16 no.6
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• pp.25-31
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• 2002

A system identification method is introduced to increase the prediction accuracy of a ship's maneuverability in PMM test, analysis. To improve the accuracy of linear hydrodynamic coefficients, the analysis techniques of pure sway and yaw tests are developed, and confirmed. In the analysis of sway tests, accuracy to linear hydrodynamic coefficients depends on the frequency of sway motion. To obtain nonlinear hydrodynamic coefficients for large drift angles, a combined yaw test is introduced. Using this system identification method, runs of PMM test can be reduced while retaining sufficient accuracy, compared to the Fourier integration method. Through the comparisons with sea trial results and the Fourier integration method, the accuracy and efficiency of the newly proposed system identification method, based on least square method, has been validated.

• Journal of Ocean Engineering and Technology
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• v.31 no.5
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• pp.371-377
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• 2017

This paper introduces a simulation-based determination method for hydrodynamic derivatives and 6DOF (degrees-offreedom) motion analysis for an underwater vehicle. Hydrodynamic derivatives were derived from second-order modulus expansion and composed of the added mass, and linear and nonlinear damping coefficients. The added mass coefficients were analytically obtained using the potential theory. All of the linear and nonlinear damping coefficients were determined using CFD simulation, which were performed for various cases based on the actual operating condition. Then, the linear and nonlinear damping coefficients were determined by fitting the CFD results, which referred to 6DOF forces and moments acting on an underwater vehicle, with the least square method. To demonstrate the applicability of the current study, 6DOF simulations for three different scenarios (L-, U-, and S-turn) were carried out, and the results were validated on the basis of physical plausibility.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.3
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• pp.540-558
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• 2015

Maneuvering oblique towing test is simulated in a Computational Fluid Dynamic (CFD) environment to obtain the linear and nonlinear velocity dependent damping coefficients for a DTMB 5512 model ship. The simulations are carried out in freely accessible OpenFOAM library with three different solvers, rasInterFoam, LTSInterFoam and interDyMFoam, and two turbulence models, $k-{\varepsilon}$ and SST $k-{\omega}$ in presence of free surface. Turning and zig-zag maneuvers are simulated for the DTMB 5512 model ship using the calculated damping coefficients with CFD. The comparison of simulated results with the available experimental shows a very good agreement among them.

• 한국기계연구소 소보
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• s.10
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• pp.35-48
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• 1983

When the hydrodynamic coefficients of the ship maneuvering equation are estimated by captive model test, it is difficult to take account of the scale effect between model and full scale ship. This scale effect problem can be overcome by processing the sea trial data with system identification. Extended Kalman filter is used as a system identification technique for the modification of the simulation equation as well as the estimation of hydrodynamic coefficients. The phenomena of simultaneous drifting of linear coefficients occur. It is confirmed that two coefficients in each pair-($Y_v$', $Y_r$' -m' u'), ($N_v$', $N_r$' )-are simultaneously drifting and all 4 coefficients are simultaneously drifting together. Particularly simultaneous drifting of 2 coefficients in each pair is more significant. It is also shown that the simultaneous drifting of 4 coefficients can be reduced by choosing the input data which have the random v'/r' curve and 4 coefficients are estimated within 2-4% error, which may be noise level. So, it is recommended to operate the rudder randomly in sea trial or model test for the application of system identification technique.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.4
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• pp.315-328
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• 2016

Techniques for determinating hydrodynamic derivatives of underwater tow-fish using CFD(Computational Fluid Dynamics) are described in this paper. Main components of hydrodynamic derivatives are added mass, linear damping and non-linear damping coefficients. In this study, linear and non-linear damping coefficients for translational velocities are settled by CFD analysis. In order to analyze the underwater tow-fish, UlsanFOAM based on open-source CFD code, namely OpenFOAM, is employed. By simulating pitch and yaw angle variation of underwater tow-fish, 6DOF(Degree-of-Freedom) forces and moments are estimated at each attitudes. In order to determinate the hydrodynamic derivatives, curves(forces and moments vs attitude) for CFD results are fitted by least square methods. To demonstrate the applicability of the current approach, two different problems(impulsive side towing and straight towing) are simulated and all results are validated.

• Journal of Ocean Engineering and Technology
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• v.36 no.3
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• pp.143-152
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• 2022

To reach a port, a ship must pass through a shallow water zone where seabed effects alter the hydrodynamics acting on the ship. This study examined the maneuvering characteristics of an autonomous surface ship at 3-DOF (Degree of freedom) motion in deep water and shallow water based on the in-port speed of 1.54 m/s. The CFD (Computational fluid dynamics) method was used as a specialized tool in naval hydrodynamics based on the RANS (Reynolds-averaged Navier-Stoke) solver for maneuvering prediction. A virtual captive model test in CFD with various constrained motions, such as static drift, circular motion, and combined circular motion with drift, was performed to determine the hydrodynamic forces and moments of the ship. In addition, a model test was performed in a square tank for a static drift test in deep water to verify the accuracy of the CFD method by comparing the hydrodynamic forces and moments. The results showed changes in hydrodynamic forces and moments in deep and shallow water, with the latter increasing dramatically in very shallow water. The velocity fields demonstrated an increasing change in velocity as water became shallower. The least-squares method was applied to obtain the hydrodynamic coefficients by distinguishing a linear and non-linear model of the hydrodynamic force models. The course stability, maneuverability, and collision avoidance ability were evaluated from the estimated hydrodynamic coefficients. The hydrodynamic characteristics showed that the course stability improved in extremely shallow water. The maneuverability was satisfied with IMO (2002) except for extremely shallow water, and collision avoidance ability was a good performance in deep and shallow water.

• Journal of Ocean Engineering and Technology
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• v.28 no.2
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• pp.119-125
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• 2014

A vertical planar motion mechanism(VPMM) test was used to increase the prediction accuracy for the maneuverability of an underwater glider model. To improve the accuracy of the linear hydrodynamic coefficients, the analysis techniques of a pure heave test and pure pitch test were developed and confirmed. In this study, the added mass and damping coefficient were measured using a VPMM test. The VPMM equipment provided pure heaving and pitching motions to the underwater glider model and acquired the forces and moments using load cells. As a result, the hydrodynamic coefficients of the underwater glider could be acquired after a Fourier analysis of the forces and moments. Finally, a motion control simulation was performed for the glider control system, and the results are presented.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.4
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• pp.247-257
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• 2003

This paper presents an analytical method to Investigate the stability of a hydrodynamic journal bearing with rotating herringbone grooves. The dynamic coefficients of the hydrodynamic Journal bearing are calculated using the FEM and the perturbation method. The linear equations of motion can be represented as a parametrically excited system because the dynamic coefficients have time-varying components due to the rotating grooves, even in the steady state. Their solution can be assumed as a Fourier series expansion so that the equations of motion can be rewritten as simultaneous algebraic equations with respect to the Fourier coefficients. Then, stability can be determined by solving Hill's infinite determinant of these algebraic equations. The validity of this research is proved by the comparison of the stability chart with the time response of the whirl radius obtained from the equations of motion. This research shows that the instability of the hydrodynamic journal bearing with rotating herringbone grooves increases with increasing eccentricity and with decreasing groove number, which play the major roles in increasing the average and variation of stiffness coefficients, respectively. It also shows that a high rotational speed is another source of instability by increasing the stiffness coefficients without changing the damping coefficients.