• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.9-16
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• 1997

The method of designing robust two degree of freedom(2 DOF) controllers for linear systems with parameter uncertainties and unmodeled dynamics is presented in this paper. Robust performance condition that accounts for robust model matching of closed loop system and disturbance rejection is derived. Using the robust performance condition, the feedback controller is designed to meet robust stability and disturbance rejection specifications, while prefilter is used to improve the robust model matching properties. The $H^{\infty}$ and $\mu$ controller for six degree of freedom vehicle with parameter variations are designed and compared. Simulations for hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.

• 상하수도학회지
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• 제19권2호
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• pp.117-124
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• 2005

Appropriate removal of pollutants from combined sewer overflows(CSOs) and stormwater runoff is of primary concern to watershed managers trying to meet water quality standards even under a wet weather condition. Harmful substances associated with particles besides TSS and BOD are subjected to removal prior to discharge into the natural waters. Effectiveness of five major hydrodynamic separation technologies, Vortechs, Downstream Defender including Storm King for CSOs control, CDS, Stormceptor, and IHS, were evaluated in this study. There is not sufficient information for accurate evaluation of the removal efficiency for the pollutants from the stormwater runoff and CSOs. Based upon limited engineering data, however, all technologies were found to be effective in separation of heavy particles and floating solids. Technologies utilizing screens seem to have advantage in the treatment capacity than the other technologies relied fully on hydrodynamic behavior. The IHS system seems to have a strong potential in application for control of CSOs because of unique hydrodynamic behavior as well as a flexibility in opening size of the screens. Size of the particulate matter in the CSOs and stormwater runoff is found to be the most important parameter in selection of the type of the hydrodynamic separators. There exists an upper limit in the solids removal efficiency of a hydrodynamic separator, which is strongly dependent upon the particle size distribution of the CSOs and stormwater runoff.

• 전자공학회논문지S
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• 제34S권1호
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• pp.43-53
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• 1997

A robust stability condition for linear systems with time delay in all variables and parameter uncertainties in all system matrices is derived. Robust performance condition that accounts for robust model-matching of closed loop system and disturbance rejection is also derived. Using the robust performance condition, robust $H^{\infty}$ controller and .mu.(sgructured singular value) controller with two-degree-of-freedom(2DOF) are designed. The controller structure is considered for $H^{\infty}$ controller, while uncertainity structure is considered for .mu. controller. Using the proposed method, $H^{\infty}$ and .mu. controllers for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.ce.

• 대한조선학회논문집
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• 제46권6호
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• pp.562-568
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• 2009

Hull form generation and variation methods to be mainly discussed in this study are based on the fairness optimized B-Spline form parameter curves (FOBFC). These curves can be used both as indirect modification function for variation and as geometric entities for hull form generation. The flexibility and functionality of geometric control technique play the most important role for the success of hull form optimization. This study shows the hydrodynamic optimization process and the characteristics of optimum design hull forms of a 14,000TEU containership and 60K LPG carrier. SHIPFLOW has been used as a CFD solver and FS-Framework as a geometric modeler and optimizer.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.50-56
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• 2021

An accurate evaluation of three-dimensional (3D) Time-Domain Green Function (TDGF) in infinite water depth is essential for ship's hydrodynamic analysis. Various numerical algorithms based on the TDGF properties are considered, including the ascending series expansion at small time parameter, the asymptotic expansion at large time parameter and the Taylor series expansion combines with ordinary differential equation for the time domain analysis. An efficient method (referred as "Present Method") for a better accuracy evaluation of TDGF has been proposed. The numerical results generated from precise integration method and analytical solution of Shan et al. (2019) revealed that the "Present method" provides a better solution in the computational domain. The comparison of the heave hydrodynamic coefficients in solving the radiation problem of a hemisphere at zero speed between the "Present method" and the analytical solutions proposed by Hulme (1982) showed that the difference of result is small, less than 3%.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권1호
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• pp.102-109
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• 2016

The hydrodynamic interaction between two large vessels can't be neglected when two large vessels are closed to each other in restricted waterways such as in a harbor or narrow channel. This paper is mainly concerned with the ship maneuvering motion based on the hydrodynamic interaction effects between two large vessels moving each other in curved narrow channel. In this research, the characteristic features of the hydrodynamic interaction forces between two large vessels are described and illustrated, and the effects of velocity ratio and the spacing between two vessels are summarized and discussed. Also, the Inchon outer harbor area through the PALMI island channel in Korea was selected, and the ship maneuvering simulation was carried out to propose an appropriate safe speed and distance between two ships, which is required to avoid sea accident in confined waters. From the inspection of this investigation, it indicates the following result. Under the condition of $SP_{12}{\leq}0:5L$, it may encounter a dangerous tendency of grounding or collision due to the combined effect of the interaction between ships and external forces. Also considering the interaction and wind effect as a parameter, an overtaken and overtaking vessel in narrow channel can navigate while keeping its own original course under the following conditions; the lateral separation between two ships is about kept at 0.6 times of ship length and 15 degrees of range in maximum rudder angle. On the other hand, two ships while overtaking in curved narrow channel such as Inchon outer harbor in Korea should be navigated under the following conditions; $SP_{12}$ is about kept at 1.0 times of ship length and the wind velocity should not be stronger than 10 m/s.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권4호
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• pp.508-519
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• 2018

In order to design the hull form of an underwater vehicle in the conceptual design phase, the dynamic characteristics depending on the hull form parameters should be identified. Course-keeping stability, turning ability, yaw-checking ability, and mission competence are set to be the indices of the dynamic characteristics, and the geometric parameters for the bare hull and rudder are set to be the hull form design parameters. The total sensitivity of the dynamic characteristics with respect to the hull form parameters is calculated by the chain rule of the partial sensitivity of the dynamic characteristics with respect to the hydrodynamic coefficients, and the partial sensitivity of the hydrodynamic coefficients with respect to the hull form parameters. Based on the sensitivity analysis, important hull form parameters are selected, and those optimal values to satisfy the required intercept time of mission competence of a specific underwater vehicle and turning rate are estimated.

• 한국수자원학회논문집
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• 제33권1호
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• pp.39-50
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• 2000

일반적으로 동수역학 모형은 마찰인자(조도계수 또는 Chezy계수)와 와점성계수를 필요로 하고 수치계산에서 이들 계수의 갑은 통상 가정 또는 반복계산을 통하여 결정된다. 수치모형에서 와점성계수는 물리적인 확산뿐만 아니라 수치점성의 효과도 가지고 있어서 수치계산의 안정성에 영향을 미치므로 이들 계수의 일관된 결정방법이 필요하다. 수위 및 유량자료, 1차원 모형인 HEC-2와 NETWORK, 2차원 모형인 SMS를 이용하여 한강하류 구간에 대한 조도계수의 산정결과와 와점성 계수의 산정식이 제시되었으며 실측수위와 비교를 통해 검증되었다.

• 한국정밀공학회지
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• 제28권10호
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• pp.1159-1165
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• 2011

The recording density of HDD is increasing in ratio of 100% each year. Because the increasing of recording density requires the feature of high rotation, fixation and low-noise, fluid hydrodynamic bearing(FDB) has been paid attention to overcome a limitation in ball bearing. Most of researches related to improving performance of FDB have been studied in Japan which has 80% more market share of HDD spindle motor assembly. Main subject of studies are about for the design of the groove shape, manufacturing process of fluid dynamic bearing, performance evaluation and measurement. In HDD, non-repeatable runout(NRRO) is most important parameter which determines the performance of HDD spindle system because NRRO is unpredictable that cannot be compensated in head/slider servo system. In this study, performance evaluation system can measure dynamic behaviors were designed and methodology for calculating imbalance, RRO, and NRRO were proposed.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.506-509
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• 2008

Mathematical models have been developed to calculate hydrodynamic characteristics of perforated-wall structures. Most of the models separate the fluid regions into front and back of the wall, assume the solution in each region, and calculate the solution by using the matching condition at the wall. The matching condition involves the permeability parameter, which can be calculated by the methods proposed by Mei et al. or Sollitt and Cross. In this study, we compare these two methods. The former is advantageous because all the related variables are known, but it gives wrong result in the limit of long waves, i.e. zero transmission and perfect reflection of very long waves. In deep water, the latter predicts smaller transmission and larger reflection than the former, and vice versa in shallow water. In the latter method, the friction coefficient decreases as the wall thickness or the porosity of the wall increases.