• 한국항해항만학회지
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• 제43권3호
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• pp.143-152
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• 2019

본 논문에서는 LNG 벙커링 바지에 대한 예인안정성을 평가하였다. 친환경 에너지원인 LNG(액화천연가스)의 전환을 위한 인프라로 LNG 벙커링 바지가 개발되고 있다. LNG 벙커링 바지는 예인줄에 연결되어 이동하는 부선의 형태이기 때문에 LNG 공급용 부선의 예인안정성의 확보는 LNG 벙커링 바지 뿐 만아니라 주변 항해 선박의 안전을 위해 매우 중요하다. LNG 벙커링 바지의 예인안정성을 초기설계 단계에서 추정하기 위해 예인시뮬레이션을 위한 수치코드를 개발하였다. 초기설계 단계에서 활용 가능하도록 운동방정식에는 조종수학그룹 모델이 적용되었고 조종미계수에는 경험식이 적용되었다. 개발된 수치코드의 유효성을 확인하기 위해 발표된 계산 및 모형시험 결과와 비교하였다. 개발된 수치코드를 이용하여 LNG 벙커링 바지의 선미 스케그 면적과 예인 위치의 변화에 따른 예인시뮬레이션을 수행하였다. 수행된 시뮬레이션을 통해 설계된 선미 스케그 면적의 적정성을 확인하였다.

• 수산해양기술연구
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• 제56권3호
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• pp.238-245
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• 2020

In this study, a motion control problem for the vessel towed by towing ship on the sea is considered. The towed vessel does not have self-control capabilities such that its course stability totally depends on the towing ship. Especially, in the narrow canal, river and congested harbor area, extreme tension is required during the towing operation. The authors, therefore, propose a new control system design method in which the rudder is activated to provide its maneuverability. Based on the leader following system configuration, a nonlinear mathematical model is derived and a backstepping control is designed. By experiment results with nonlinear control framework, the usefulness and effectiveness of the proposed strategy are presented.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.277-286
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• 2017

This paper introduces mathematical modelling and control algorithm of expendable mine disposal vehicle. This vehicle has two longitudinal thrusters, one vertical thruster and internal mass moving system which can control pitch rate. Also, the vehicle has an optical camera and forward looking sonar for underwater mine detection and classification. The vehicle is controlled via an optical cable connected with operating console on the mother ship. We describe the vehicle's 6DOF dynamic model and controller which can track the desired trajectory for the way-point tracking. These simulation results shows guidance and maneuvering performance which has other sensor data or not.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1459-1464
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• 1996

The most important parameter for hydraulic active suspension system is to sustain desirable vehicle maneuvering stability and ride comfort without increasing consumption power. The performance of hydraulic active suspension system depends on damping force of body damping valve and piston damping valve. Hydraulic actuator design and damping valve parameter selection are essential and basic procedure to design hydraulic active suspension system. This paper is on computer simulation with use of mathematical model that was delivered from dynamic characteristic of hydraulic actuator, as know basic damping characteristics of hydraulic active suspension system. The aim of this paper is to select the system parameter that affect mainly hydraulic active suspension, and identify the validity on the system parameter selection.

• 해양환경안전학회지
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• 제8권2호
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• pp.9-15
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• 2002

Ship operators use anchor dredging for the collision avoidance or safety of ship handling in a harbour or narrow channel. This paper clarifies the technique of the anchor dredging known as a common sense for. the seafarers A mathematical model at low speed range is established for the estimation of ship motion under the assumed environment, simulate the advance speed , and turning ability under the anchor dredging or not. The results shows good agreement with the conventional seamanship and their experiences as follows. Ahead speed used the anchor dredging is slower(speed reduction ratio:40%) than the normal ahead speed and the stopping distance is shorter (distance reduction ratio:40%)than the normal ahead distance without the anchor dredging.. Turning speed used anchor dredging is slower(speed reduction ratio:72%)than the normal ahead speed and the tactical diameter is shorter(distance reduction ratio:24%)than the diameter by the normal turning without the anchor dredging.

• Journal of Advanced Research in Ocean Engineering
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• 제2권4호
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• pp.192-201
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• 2016

This study examined a PD controller and its application to automatic berthing control of an unmanned surface vehicle (USV). First, a nonlinear mathematical model was established for the maneuvering of the USV in the presence of environmental forces. A PD control algorithm was then applied to control the rudder and propeller during an automatic berthing process. The algorithm consisted of two parts, namely the forward velocity control and heading angle control. The control algorithm was designed based on longitudinal and yaw dynamic models of the USV. The desired heading angle was obtained using the "line of sight" method. Finally, computer simulations of automatic USV berthing were performed to verify the proposed controller subjected to the influence of disturbance forces. The results of the simulation revealed a good performance of the developed berthing control system.

• 대한기계학회논문집A
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• 제26권4호
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• pp.683-692
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• 2002

The most important parameter for hydraulic active suspension system is to sustain desirable vehicle maneuvering stability and ride comfort without increasing power consumption. The performance of hydraulic active suspension system depends on damping force of body damping valve and piston damping valve. Hydraulic actuator design and damping valve parameter selection are essential and basic procedure to design hydraulic system. This paper is on computer simulation with use of mathematical model that was delivered from dynamic characteristic of hydraulic actuator, as know basic damping characteristics of hydraulic active suspension system. The aim of this paper is to select the system parameter that affect mainly hydraulic active suspension, and identify the validity on the system parameter selection.

• 한국항만학회지
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• 제7권2호
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• pp.61-68
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• 1993

Studies on the ship's automatic navigation & berthing control have been continued by way of solving the ship's mathematical model, but the results of such studies have not reached to our satisfactory level due to its non-linear characteristics at low speed. In this paper, the authors propose a new control system which can evaluate as closely as captain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's knowledge. This controller contains the concept of safety according to channel width. The learning data are drawn from ship Handling simulator(NavSim NMS-90 MK III) and represent the ship motion characteristics internally. According to learning procedure, the FNN controller can tune membership functions and identify fuzzy control rules automatically. The verified results show that the FNN controller is effective to incorporate captain's knowledge and experience of manoeuvrability in channel.

• 대한조선학회논문집
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• 제29권3호
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• pp.90-101
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• 1992

선박이 일정속도 이상의 전진속도를 갖일 때의 조종성능 평가법은 지금까지 많이 제안되어 왔으나, 이들을 항만내에서의 다양한 운동모드 즉, 출발, 정지, 후진, 미속조종 등에는 적용에 무리가 있다. 본 연구에서는 출발, 정지, 후진, 미속조종 등을 포함하는 저속항행시의 조종운동 특성의 평가법을 제안하기 위해서, 대각도 횡류각 뿐만 아니라 광범위한 프로펠러 작동하에서의 선체, 프로펠러, 타에 작용하는 유체력의 특성을 수식모형화 하였다. 제안된 수식모형을 이용하여 액화가스 운반선, 대형유조선 두 선박에 대해 저속항행시의 조종운동 시뮬레이션 계산을 수행하여 실선시험 또는 모형시험 결과와 비교, 검토하였다.

• 한국융합학회논문지
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• 제3권4호
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• pp.35-44
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• 2012

본 연구에서 모사 프로그램이 6WD/6WS를 가진 특수 목적 차량의 비정상상태 코너링 성능을 조사하기 위해 개발되었다. 6WD 차량은 비포장 도로에서 작전을 수행하기 좋은 성능을 가지고 있고 안전한 성능을 가진 것으로 신뢰받고 있다. 그러나, 6WS 차량들의 코너링 성능은 관련 문헌을 통해서는 언뜻 이해가 어렵다. 본 논문에서는 6WD/6WS 차량들은 비선형 차량 동력학, 타이어 모델, 운동학적 효과 등을 포함한 18 자유도 시스템으로 모델링 되었다. 그리고 그 차량 모델은 입/출력과 차량변수가 수식화된 접근 방법으로 쉽게 변환될 수 있도록 MATLAB/SIMULINK를 사용한 모사 프로그램으로 구성되었다. 6WS 차량의 코너링 성능은 브레이크 휠과 피봇팅 각각으로 해석되었다. 모사 결과들을 보면, 코너링 성능은 전후 휠 조향 뿐만이 아니라 중간 휠 조향에 따라 좌우됨을 보여준다. 덧붙여, 새로운 6WS 제어법칙은 측면 미끄러짐 각을 최소화하기 위해 제안되었다. 차량변경 모사 결과들은 제안된 제어법칙의 6WS 차량의 장점을 보여준다.