• Journal of the Society of Naval Architects of Korea
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• v.35 no.1
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• pp.54-60
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• 1998

Generally, spiral test has been used for evaluating course-keeping quality of a ship. But, there are many difficult problems in performing spiral test and reversed spiral test. Therefore, we propose zig-zag test instead of spiral test for evaluating curse-keeping quality of a ship. In this paper, K-T maneuvering response model is applied to the spiral curves which are systematically produced to calculate Zig-zag maneuver. Then, 1st overshoot angle and 2nd overshoot angle are plotted. And the relations between overshoot angles and band widths of spiral curve are discussed.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.11
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• pp.483-493
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• 2002

The damping ratio ${\xi}$ of the unit-step response of a second-order discrete system is a function of only the location of the closed-loop poles and is not directly related to the location of the system zero. However, the peak overshoot of the response is the function of both the damping ratio ${\xi}$ and an angle ${\alpha}$, which is the phasor angle of the damped sinusoidal response and is determined by the relative location of the zero with respect to the closed-loop poles. Therefore, if the zero and the open-loop poles are relatively adjusted, through pole-zero cancellation, to maintain the desired (or designed) closed-loop poles, the damping ratio ${\xi}$ will also be maintained, while the angle ${\alpha}$ changes. Accordingly, when the closed-loop system poles are fixed, the peak overshoot is considered as a function of the angle ${\alpha}$ or the system zero location. In this paper the effects of the relative location of the zero on the system performance of a second-order discrete system is studied, and a design method of digital compensator which achieves a minimum peak overshoot while maintaining the desired system mode and the damping ratio of the unit step response is presented.

• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.674-682
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• 2017

This paper presents an optimal initial firing angle control based on the energy consumption and regenerative energy of a parallel multi-pulse thyristor dual converter for urban railway power substations. To prevent short circuiting the thyristor dual converter, a hysteresis band for maintaining a zero-current discontinuous section (ZCDS) is essential during mode changes. During conversion from the ZCDS to forward or reverse mode, the DC trolley voltage can be stabilized by selecting the optimal initial firing angle without an overshoot and slow response. However, the optimal initial firing angle is different depending on the line impedance of each converter. Therefore, the control algorithm for tracking the optimal initial firing angle is proposed to eliminate the overshoot and slow response of DC trolley voltage. Simulations and experiments show that the proposed algorithm yields the fastest DC voltage control performance in the transient state by tracking the optimal firing angle.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.512-514
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• 1999

The damping ratio $\zeta$ of a continuous 2nd order response which passes all the points of the discrete response of a 2nd order discrete system(envelope curve) is a function of only the location of the closed-loop pole and ie not at all related to the location of the zero. And the peak overshoot of the envelope curve is uniquely specified by the damping ratio $\zeta$, which is a function of solely the closed-loop pole location, and the angle $\alpha$ which is determined by the relative location of the zero with respect to the closed-loop complex pole. Therefore, if the zero slides on the real axis with the closed-loop complex poles being fixed, then the angle $\alpha$ changes however the damping ratio $\zeta$ does not. Accordingly, when the closed-loop system poles are fixed, the peak overshoot is function of $\alpha$ or the system zero. In this thesis the effects of the relative location of the zero on the system performance of a second order discrete system is studied.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.382-386
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• 2002

The damping ratio $\zeta$ of the unit-step response of a second-order discrete system is a function of only the location of the closed-loop poles and is not directly related to the location of the system zero. However, the peak overshoot of the response is the function of both the damping ratio $\zeta$ and an angle $\alpha$, which is the phasor angle of the damped sinusoidal response and is determined by the relative location of the zero with respect to the closed-loop poles. Accordingly, when the closed-loop system poles are fixed, the peak overshoot is considered as a function of the angle $\alpha$ or the system zero location. In this paper the effects of the relative location of the zero on the system performance of a second-order discrete system is studied, and a design method of digital compensator which achieves arbitrary steady-state response with minimum peak overshoot while maintaining the desired system mode and the damping ratio of the unit step response is presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04b
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• pp.185-191
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• 1993

A flexible nanipulator can move in the high speed even with the small driving torque. The dynamic equations of flexible manipulator whichinclude 2 vibrationalmodes are derived using the clamped-free boundarycondition. Simulation results of the 6th order modelare well matched with experimental results. The hub angle of the flexible manipulator can be controlled without vibration of beam by the feedback of both hub angle and strain. The overshoot of the hub angle in the step resonse is reduced without sacrificing the rise time using the cycloidal function instead of the step function as the reference input.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.5
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• pp.552-557
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• 2015

A numerical simulation studies were performed to investigate a manoeuvring characteristics as function of stern hull form with the mathematical model. In order to consider the effect of the stern hull form and obtain the manoeuvring characteristics, a parameter($C_{wa}$) which is aft. water plane area coefficient is modified. Because modifying $C_{wa}$(${\pm}2%$) means that the stern hull form is modified to V-type or U-type, the numerical simulation was performed with this modified $C_{wa}$. A changing trend for the manoeuvring characteristics not only in deep water but also in shallow water such as directional stability, turning and zig-zag was investigated and presented as the results. Present study showed that the manoeuvrability in shallow water largely changed when the draught and water depth ratio(=d/H) become 0.5, and the stern hull form can affect to the manoeuvrability of a vessel navigating in restricted water depth. In addition, it showed that approaching the stern hull to U-type makes the advance and tactical diameter of turning motion large and the overshoot angle of zig-zag motions small. Otherwise, it showed approaching the stern hull form to V-type makes the advance and tactical diameter of turning motion small and the overshoot angle of zig-zag motions large in the present study.

• Proceedings of KOSOMES biannual meeting
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• 2003.11a
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• pp.141-148
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• 2003

Yaw-checking and course-keeping ability in IMO's ship manoeuvrability standards is reviewed from the viewpoint cf sole navigation Three kinds of virtual series-ships, which have different course instability, are taken as test models. The numerical simulation on Z-test is carried out in order to examine the correlation between known manoeuvrability in spiral characteristics and various kinds of overshoot angle. Then simulator experiments are executed with series-ships in a curoed, narrow waterway by six operators(five active pilots and one ex-captain) in order to examine the correlation between known manoeuvrability and degree of manoeuvring difficulty. IMO criteria for yaw-checking and course-keeping ability are discussed and revised criteria are proposed.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.56 no.2
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• pp.172-182
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• 2020

In order to offer specific information needed to assist in operation of a ship with same type rudder through evaluating the maneuverability of training ship A-Ra with flapped rudder, sea trials based full scale for turning test, zig-zag test with rudder angle 10° and 20°, and spiral test at service condition were carried out on starboard and port sides around Jeju Island according to the standards of maneuverability of IMO. As a result, the angular velocity of port turn was higher than that of starboard turn. Therefore, the size of turning circle was longer on the starboard side. In addition, variation of the transfer due to various factors was more stable than those of the others. In the Z-test results, the mean of 1st and 2nd overshoot angles were 9.8°, 6.3° and 15.3°, 9.2° respectively when the port and starboard was 10°; the 1st overshoot angle were 18°, 13.7° when using 20°. Her maneuverability index T' and K' can be easily determined by using a computer with the data obtained from Z-test where K' and T' are dimensionless constants representing turning ability and responsiveness to the helm, respectively. In the Z-test under flap rudder angle 10°, the obtained K' value covered the range of 2.37-2.87 and T' was 1.74-3.45. Under the flap rudder angle 20°, K' and T' value showed 1.43-1.63, 1.0-1.73, respectively. In the spiral test, the loop width was unstable at +0.3° and -0.5°-0.9° around the midship of flap rudder. As a result, course stability was comparatively good. From the sea trial results, training ship ARA met the present criterion in the standards of maneuverability of IMO.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.163-169
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• 1993

A flexible manipulator can move in the high speed even with the small driving torque. The dymanic equations of flexible manipulator which include 2 vibrational modes are derived using the clamped-free boundary condition. Simulation results of the 6th order model are well matched with experimental results. The hub angle of the flexible mainpulator can be controlled without vibration of the beam by the feedback of both hub angle and strain. The overshoot of the hub angle in the step response is reduced without sacrificing the rise time using the cycloidal function instead of the step function as the referenmce input.