Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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A Study on Development of Sway Velocity Reference Model During Auto-berthing/Unberthing Through Analysis of Ship's Berthing/Unberthing Data

선박의 이/접안 데이터 분석을 통한 자동 이/접안 시 횡방향속도 참조모형 개발에 관한 연구

  • Kim, Jung-Hyeon (Korea Marine Equipment Research Institute) ;
  • Jo, Hyun-Jae (Department of Marine Design Convergence Engineering, Pukyong National University) ;
  • Kim, Su-Rim (Department of Marine Design Convergence Engineering, Pukyong National University) ;
  • Lee, Jun-Ho (Training Ship NARA, Pukyong National University) ;
  • Park, Jong-Yong (Department of Naval Architecture and Marine System Engineering, Pukyong National University)
  • 김정현 (한국조선해양기자재연구원) ;
  • 조현재 (부경대학교 마린융합디자인공학과) ;
  • 김수림 (부경대학교 마린융합디자인공학과) ;
  • 이준호 (부경대학교 실습선 나라호) ;
  • 박종용 (부경대학교 조선해양시스템공학과)
  • Received : 2021.01.11
  • Accepted : 2021.10.05
  • Published : 2021.12.20
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Abstract

Crabbing motion is a pure sway motion with only sway velocity. The ship's crabbing motion is essential for an ideal berthing/unberthing process. The unberthing situation proceeds in sequential order such as crabbing motion section, pivoting section, and outer port section. For the berthing situation, the sequence has a reverse order: the inner port section, pivoting section, and crabbing motion section. In this paper, the berthing/unberthing data of the reference ship, Pukyong National University research ship "NARA", was analyzed to develop a sway velocity reference model. Several constraints were defined to derive the crabbing motion section during berthing/unberthing. The sway velocity reference model for the auto-berthing/unberthing was developed using the estimated sway velocity. A reproduction simulation of the ship was performed to compare the designed reference model and the reference ship data.

Keywords

Acknowledgement

본 논문은 2020년도 해양수산부 및 해양수산과학기술진흥원 연구비 지원으로 수행된 '자율운항선박 기술개발사업(20200615, 지능형 항로 의사결정 기능을 갖는 자율운항 시스템 개발)'의 지원으로 연구되었습니다.

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