• 한국해양공학회지
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• 제20권6호
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• pp.24-34
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• 2006

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus, it is important to know the true values of these coefficients, in order to accurately simulate the AUV's dynamic performance. Although these coefficients are generally obtained experimentally, such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors. Another approach, by which these coefficients can be obtained, is the observer method, in which a model-based estimation algorithm estimates the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers: a sliding mode observer and an extended Kalman filter. Their performances are evaluated in Matlab simulations, by comparing the estimated coefficients obtained from the two observer methods, with the experimental values as determined from the PMM test. A sliding mode controller is constructed for the diving and steering maneuver by using the estimated coefficients. It is demonstrated that the controller, applied with the estimated values, maintains the desired depth and path with sufficient accuracy.

• 대한조선학회지
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• 제19권4호
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• pp.39-45
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• 1982

A floating rig, which has been used to develop the ocean resources has a common characteristics with the catamaran ship that it is composed of the two simple hulls. So the motion responses of the floating rig can be predicted theoretically with the aid of the strip method as those of the catamaran. And for the strip method, the two-dimensional hydrodynamic coefficients are the most important inputs to predict the results accurately. In this report, a theoretical method is proposed for calculating two-dimensional hydrodynamic forces and moments acting upon arbitrary shaped twin-hull cylinders, which are forced to make a heaving, swaying and rolling oscillation about their mean position on the free surface of a finite depth water. The theoretical results by making use of the singularity distribution method are presented. The accuracy of the coefficients was confirmed to be reasonable by the comparison with the Ohkusu's results for two circular cylinders in an infinite depth water. The depth effects on two-dimensional hydrodynamic coefficients for two circular cylinders are also checked. In some range of wave numbers, large differences in the behavior of hydrodynamic coefficients between for a finite depth and for an infinite depth are shown.

• 제어로봇시스템학회논문지
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• 제2권2호
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• pp.121-126
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• 1996

The hydrodynamic coefficients estimation (HCE) is important to design the autopilot and to predict the maneuverability of an underwater vehicle. In this paper, a system identification is proposed for an HCE of an underwater vehicle. First, we attempt to design the HCE algorithm which is insensitive to initial conditions and has good convergence, and which enables the estimation of the coefficents by using measured displacements only. Second, the sensor and measurement system which gauges the data from the full scale trials is constructed and the data smoothing algorithm is also designed to filter the noise due to irregular fluid flow without changing the data characteristics itself. Lastly the hydrodynamic coefficients are estimated by applying the measured data of full scale trials to the developed algorithm, and the estimated coefficients are verified by full scale trials.

• 한국해양공학회지
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• 제16권6호
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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.

• 한국항해항만학회지
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• 제31권7호
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• pp.569-578
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• 2007

The primary objective of this study is to present a modified method of hydroelastic analysis and application of it to the VLFS with submerged plate. The modal analysis method is applied to the VLFS with the submerged plate using the modified hydrodynamic coefficients. Namely, the wave exciting forces are modified by the transmission wave coefficients, while the interaction factor is used for the modification of radiation forces. To validate the proposed method, comparisons between the numerical calculations and experimental data have been carried out for the deflections of VLFS, and it shows good agreement between the calculation and experiment. The results presented in this study demonstrate that the elastic response of the VLFS is strongly affected by the hydrodynamic interaction induced by the submerged plate. As a result, we can confirm that the submerged plate is useful for reducing the hydroelastic deflection of VLFS, and the proposed method is valuable for predicting the elastic response of VLFS with attached the submerged plate.

• Journal of Advanced Marine Engineering and Technology
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• 제40권10호
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• pp.935-941
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• 2016

Predicting and evaluating ship manoeuvring characteristics are very important not only for the design stage, but also for the existing vessels. There are several ways to predict ship's manoeuvrability and most of them are highly connected with the estimation of hydrodynamic coefficients. This paper presents a new estimation method using the system identification with mathematical algorithms for estimating hydrodynamic coefficient in the ship's mathematical model. Specifically a double ended ferry which equips four azimuth propulsion systems were chosen as benchmark ship and a set of benchmark data which is generated in the fast time simulation software was provided to conduct mathematical optimization process. Also the initial values for the optimization were borrowed from the empirical regression formulas of the simulation software of Rheinmetall Defence ship simulator. Therefore the newly suggested mathematical optimization algorithm gave a successful result for estimation hydrodynamic coefficients. Proper optimization conditions of the objective function and constraints were also verified during the study.

• International Journal of Ocean System Engineering
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• 제1권1호
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• pp.16-27
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• 2011

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.

• 한국항해항만학회지
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• 제44권2호
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• pp.98-109
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• 2020

In recent years, there have been concerted efforts toward predicting ship maneuvering in shallow water since the majority of ship's accidents near harbors commonly occur in shallow and restricted waters. Enhancement of ship maneuverability at the design stage is crucial in ensuring that a ship navigates safely. However, though challenging, establishing the mathematical model of ship maneuvering motion is recognized as crucial toward accurately predicting the assessment of maneuverability. This paper focused on a study on sensitivity analysis of the hydrodynamic coefficients on the maneuverability prediction of KVLCC2 in shallow waters. Hydrodynamic coefficients at different water depths were estimated from the experimental results conducted in the square tank at Changwon National University (CWNU). The simulation of standard maneuvering of KVLLC2 in shallow waters was compared with the results of the Free Running Model Test (FRMT) in shallow waters from other institutes. Additionally the sensitivity analysis of all hydrodynamic coefficients was conducted by deviating each hydrodynamic derivative from the experimental results. The standard maneuvering parameters including turning tests and zig-zag maneuvers were conducted at different water depths and their effects on the standard maneuvering parameters were assessed to understand the importance of different derivatives in ship maneuvering in shallow waters.

• 한국항해학회지
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• 제24권3호
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• pp.123-132
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• 2000

In order to improve the ship maneuverability, It is important to estimate precisely the hydrodynamic coefficients of added mass forces acting on a ship especially in shallow waters, and simple methods for predicting such hydrodynamic forces Is also very desirable. In the previous paper using 3-Dimension potential flow theory, it has been demonstrated that potential calculation is available to estimate added mass coefficients. The present work is aimed at the suggestion of the simplified formulas for predicting the translation and lateral motion of added mass coefficients in shallow water. So, 3-D potential flow theory is also used to calculate the added mass coefficients in deep and shallow waters for Series 60 model which has 5 different kinds of block coefficients (0.6-0.8), SR196 model and T/S HANNARA. After some series computation, simplified formulas for Predicting the added mass force in shallow waters is suggested based on the computation results of Series 60 model. The formulas consist of the combination of principal dimensions and the water depth; d/B, Cb, d/H. The predicted results are compared with the Computation results for SR196 model and T/S HANNARA. The precision of predicted results by simplified formulas are good enough for the practical use. (d/B : draft-Breadth ratio, d/H draft-Water depth ratio, Cb : Block coefficients).

• 한국해양공학회지
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• 제31권5호
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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.