• Journal of Ship and Ocean Technology
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• 제11권3호
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• pp.1-13
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• 2007

A semi-submersible drilling rig is regarded as one of the typical offshore structures operated in the field with moderate environments such as the Gulf of Mexico, Brazil, and West Africa. Its typical roll and pitch natural periods are around 30 seconds, which avoids prevailing regions of the wave energy spectrum, and their responses in waves are quite acceptable for common operation conditions. But large roll and pitch motions can be induced by wave difference frequency energy spectrum if the metacentric heights of a semi-submersible decrease to small values in some loading conditions, and it is because the roll and pitch natural periods increase and approach to the region where the spectral density of the low frequency wave drift moment has significant value. This paper describes the low frequency roll motion of a semi-submersible that are excited by the wave 2nd order difference frequency energy by a series of model experiments. From the model tests with several different initial metacentric heights (GM), it was observed that a semi-submersible can experience large roll motion due to the wave group spectrum.

• 한국산학기술학회논문지
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• 제21권2호
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• pp.521-527
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• 2020

해양구조물에서 점성효과를 고려하여 항력에 기인한 평균 점성 표류력를 구하는 것은 최근까지 잘 고려되지 않았던 설계 요소이다. 특히 저주파 영역에서 파랑과 조류를 모두 고려한 수직 실린더에 작용하는 평균 점성 표류력에 대해 계산하는 것이 가장 중요하다. 따라서 본 연구에서는 파랑과 조류를 고려한 고정된 수직 실린더 구조물에 작용하는 평균 점성 표류력에 대해 해석적 수식 해를 도출하는 과정을 구체적으로 제시하였다. 실린더의 수면 위로 나온 부분을 Splash Zone, 수면 아래의 잠긴 부분을 Submerged Zone으로 구분하였다. 파랑이 존재하는 경우는 Splash Zone에서만 고려되고, 파랑과 조류를 포함한 경우는 Splash Zone과 Submerged Zone 모두에서 각각 식을 구하였다. Splash Zone 및 Submerged Zone에서 모두 상당한 점성 효과로 기인한 표류력이 발생한다. 따라서 본 연구에서 도출한 해석적 해를 통해 주어진 설계 변수들에 의한 평균 점성 표류력을 계산할 수 있으며, 각각의 Case에 해당하는 표류력의 크기가 구체적인 물리적인 범위 내에서 주도적인 영향을 끼치는지 판단할 수 있는 이론적 근거를 제시할 수 있다.

• Journal of Power Electronics
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• 제15권2호
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• pp.419-430
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• 2015

Flux estimation is a significant foundation of high-performance control for DC-excited synchronous motor. For almost all flux estimators, such as the flux estimator based on phase locked loop (PLL), DC drift causes fluctuations in flux magnitude. Furthermore, significant dynamic error may be introduced at transient conditions. To overcome these problems, this paper proposes an improved flux estimator for the PLL-based algorithm. Filters based on the generalized integrator are used to avoid flux fluctuation problems caused by the DC drift at the back electromotive force. Programmable low-pass filters are employed to improve the dynamic performance of the flux estimator, and the cutoff frequency of the filter is determined by the dynamic factor. The algorithm is verified by a 960V/1.6MW industrial prototype. Simulation and experimental results show that the proposed estimator can estimate the flux more accurately than the PLL-based algorithm in a cycloconverter-fed DC-excited synchronous machine vector control system.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.563-569
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• 2014

This article focuses on a hemispherical resonator gyro driven by the Coriolis effect. A hemispherical shell, called a resonator, is maintained in the resonance state by amplitude control and phase locking control. Parametric excitation has been used to control the amplitude. For rate measurement mode or FTR mode, nodal points have been kept to an amplitude of zero. Angular rate measurement has been demonstrated by rotating a resonator. Frequency mismatch between two stiffness principal axes is a major cause of low performance: vibrating pattern drift and reduced control effectiveness. This mismatch has been reduced significantly by the addition of small mass. A negative spring effect, which lowers resonance frequencies, has been verified experimentally.

• 한국해양공학회지
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• 제17권4호
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• pp.8-15
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• 2003

When a typoon sets into harbour, a moored ship shows erratic motions and even mooring line failure may occur. such troubles may be caused by harbour resonance phenomena, resulting in large motion amplitudes at low frequency, which is close ti the natural frequency of th moored ship. The nonlinear motions of a ship moored to quay are simulated under external forces due to wave, current including mooring forces in time domain. The forces due to waves are obtained from source and dipole distribution method in the frequency domain. The current forces are calculated by using slow motion maneuvering equation in the horizontal plane. The wind forces are calculated from the empirical formula of ABS and the mooring forces of ropes and fenders are modeled as linear spring.

• 대한조선학회지
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• 제23권4호
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• pp.25-34
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• 1986

A two-dimensional linear method has been developed for the motion and the second-order steady force arising from the hydrodynamic coupling between waves and currents in the presence of a body of arbitrary shape. Interaction between the incident wave and current in the absence of the body lies in the realm beyond our interest. A Fredholm integral equation of the second kind is employed in association with the Haskind's potential for a steadily moving source of pulsating strength located in or below the free surface. The numerical calculations at the preliminary stage showed a significant fluctuation of the hydrodynamic forces on the surface-piercing body. The problem is approximately solved by using the asymptotic Green function for $U^2{\rightarrow}0$. The original Green function, however, is applied for the fully submerged body. Numerical calculations are made for a submerged and for a half-immersed circular cylinder and extensively for the mid-ship section of a Lewis-form. Some of the results are compared with other analytical results without any available experimental data. The current has strong influence on roll motion near resonance. When the current opposes the waves, the roll response are generally negligible in the low frequency region. The current has strong influence on roll motion near resonance. When the current opposes the wave, the roll response decreases. When the current and wave come from the same direction, the roll response increases significantly, as the current speed increases. The mean drift forces and moment on the submerged body are more affected by current than those on the semi-immersed circular cylinder or on the ship-like section in the encounter frequency domain.

• 한국해안해양공학회지
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• 제3권2호
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• pp.92-99
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• 1991

해상에 계류된 부유체는 입사하는 파도에 의해 선형항인 파랑하중과 함께 2차항인 표류력을 받는다. 2차항의 표류력은 자유표면조건의 비선형성에 의해 서로 유사한 주파수를 갖는 2개의 선형 성분파간의 상호작용으로 발생하는 장주기 성분을 포함하고 있다. 대개의 계류계의 수평 인장력은 관성력항에 비해 아주 작은 양이고, 따라서 계류계의 설치로 나타나는 부유체의 수평운동 고유주기는 장주기이므로 때로는 공진이 일어나게 된다. 이렇게 야기된 대진폭운동은 작업조건을 악화시키는 것은 물론 계류계에 심각한 손상을 줄 수 있다. 부유체의 계류계로 최근 관심을 모으고 있는 Turret 계류계의 설계에도 이러한 장주기 표류력에 대한 고려와 함께 풍향성이 있는(weathervaning) 천이운동시 Roller Bearing에 걸리는 수평하중에 대한 해석이 필수적이다. 본 논문에서는 불규칙파중에 계류된 부유체에 작용하는 장주기 표류력을 2차 전달함수를 사용하여 계산한 뒤 장주기 표류력에 의한 전후동요를 시간기억 효과를 고려하여 시뮬레이션하였다. 계류계로는 분산된(spread) Turret형 계류계를 대상으로 하였으며 계류계의 수평인장계수를 매시간 단계마다 계산하는 방법으로 비선형성을 고려하였다.

• 대한조선학회논문집
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• 제51권4호
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• pp.300-310
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• 2014

This paper presents a mooring design procedure of a floating offshore wind turbine. The environment data of south offshore area of Jeju collected from Korea Hydrographic and Oceanographic Administration(KHOA) are used for hydrodynamic analyses as environmental conditions. We considered a semi-submersible type floating wind turbine based on Offshore Code Comparison Collaborative Continuation(OC4) DeepCWind platform and National Renewable Energy Laboratory(NREL) 5 MW class wind turbine. Catenary mooring with studless chain is chosen as the mooring system. Important design decisions such as how large the nomial sizes are, how long the mooring lines are, how far the anchor points are located, are demonstrated in detail. Considering ultimate limit state and fatigue limit state based on 100-year return period and 50-year design life, respectively, longterm predictions of breaking strength and fatigue are proposed.

• Smart Structures and Systems
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• 제31권2호
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• pp.131-140
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• 2023

As well-known, the extended Kalman filter (EKF) is a powerful tool for parameter identification with limited measurements. However, traditional EKF is not applicable when the external excitation is unknown. By using least-squares estimation (LSE) for force identification, an EKF with unknown input (EKF-UI) approach was recently proposed by the authors. In this approach, to ensure the influence matrix be of full column rank, the sensors have to be deployed at all the degrees-of-freedom (DOFs) corresponding to the unknown excitation, saying collocated measurements are required. However, it is not easy to guarantee that the sensors can be installed at all these locations. To circumvent this limitation, based on the idea of first-order-holder discretization (FOHD), an improved EKF with unknown input (IEKF-UI) approach is proposed in this study for the simultaneous identification of structural parameters and unknown excitation. By using projection matrix, an improved observation equation is obtained. Few displacement measurements are fused into the observation equation to avoid the so-called low-frequency drift. To avoid the ill-conditioning problem for force identification without collocated measurements, the idea of FOHD is employed. The recursive solution of the structural states and unknown loads is then analytically derived. The effectiveness of the proposed approach is validated via several numerical examples. Results show that the proposed approach is capable of satisfactorily identifying the parameters of linear and nonlinear structures and the unknown excitation applied to them.