• 대한조선학회논문집
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• 제47권4호
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• pp.533-542
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• 2010

For a long times it has been believed that the Magnus effect of the rotating cylinder could be utilized for the lifting devices applicable to marine practices. It has been reported that the rotating cylinder installed on upper deck of commercial vessel could play a energy saving role however the idea might be applicable in a very rare case in ship building practices. In this study special high lift rudder system equipped with the trailing edge rotor has been suggested in correspondence with the increasing requirement of greater rudder force. Through the numerical simulation it is cleared that the trailing edge rotor could play a role in enhancement of circulation and refinement of boundary layer of the rudder system. At the same time it is found out that the lift force of the rudder system without rotation of trailing edge rotor could be doubled when the circumferential velocity of the trailing edge rotor is equal to twice of the inflow velocity.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.363-372
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• 2002

In ship operation, the roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization system design have been performed and good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used exclusively to stabilize the roll. But, in the roll stabilization control system, the control performance is very sensitive to the ship speed. So, we can see that it is important to consider the ship speed in the rudder roll control system design. The gain-scheduling control technique is very useful in the control problem incorporating time varying parameters which can be measured in real time. Based on this fact, in this paper we examine the;$H_{\infty}$-Gain Scheduling control design technique. Therefore, we assume that a parameter, the ship speed which can be estimated in real time, is varying and apply the gain-scheduling control technique to design the course keeping and anti-rolling control system far a ship. In this control system, the controller dynamics is adjusted in real-time according to time-varying plant parameters. The simulation result shows that the proposed control strategy is shown to be useful for cases when the ship speed is varying and robust to disturbances like wind and wave.

• 한국해양공학회지
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• 제16권4호
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• pp.61-69
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• 2002

In the actual control systems, there exist many kinds of restrictions or nonlinearities. However, due to the nonlinearities in actuators and sensors, the designed controller may not be applicable in some practical situations. One such nonlinearity is amplitude saturation in actuators. Although sometimes it may be ignored, in other cases failure to consider actuator saturation may severely degrade closed-loop system performance and even lead to instability. On the other hand, limiting the controller gain to avoid saturation sacrifices control effort and may lead to loss of performance. Consequently, in some cases, the actuator saturation must be explicitly taken into account to ensure desired performance. However, in this paper, an anti-windup control system design method is introduced to suppress the windup due to the amplitude saturation of the actuator. The proposed control system has very simple design process and guarantees the good control performance. The validity of the proposed control system will be shown by comparing with the results of a reported paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.699-703
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• 2004

The autopilot system targets decreasing labor, working environment, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization, Dynamic ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And, Load Condition of ship acts as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that id disturbance act in non-linear form, become factor who make service of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using GA algorithm,design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.342-345
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• 2005

This paper describes dynamics analysis of a small training boat and a new type of ship's autopilot not only to keep her course but also to reduce her roll motion. Firstly, statistical analysis through multi-variate auto regressive model is carried out using the real data collected from the sea trial on an actual small training boat Sazanami after the navigational system of the boat was upgraded. It is shown that the roll motion is strongly influenced by the rudder motion and it is suggested that there is a possibility of reducing the roll motion by controlling the rudder order properly. Based on this observation, a new type of ship's autopilot that takes the roll motion into account is designed using the muti-variate modern control theory. Lastly, digital simulations by white noise are carried out in order to evaluate the proposed system and a typical result is demonstrated. As results of simulations, the proposed autopilot had good performance compared with the original data.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2006년도 추계학술발표회
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• pp.277-282
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• 2006

선박에서 제어판를 가지는 주요목적은 선박의 운동을 제어하는 것이다. 제어판은 단동타나 고종판에 이동할 수 있는 부분을 혼합하여 사용되는 것으로 구성되어있다. 제어판은 이런 목적에 맞게 수행될 수 있는 고유의 기능을 가지고, 이는 유체와 관련된 방향과 운동의 결과로 제어력을 증가시키는 것이다. 힘과 운동은 회전과 영각의 결과로서 발생하고, 선박의 조종특성을 결정한다. 본 연구에서는 플랩타의 2차원 단면에 대한 연구를 수행하였다. 플랩타의 유통특성을 파악하기 위하여 각각의 영각과 플랩각을 변화시켜가며 모형실험을 수행하였으며, 유통장내의 속도분포를 얻기 위하여 PIV계측기법 중 동일입자 추적법의 하나인 2프레림 입자추적법을 사용하였다. 모델실험은 $Re=2.8\times10^4$에서 수행하였으며, 계측된 결과들을 서로 비교하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2010년도 춘계학술대회
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• pp.387-388
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• 2010

선박의 조종성능 향상을 위해 적용되고 있는 쌍동타의 유체력 평가를 위해 $Re=1.5\times10^4$에서 쌍동타의 상 하부 리더 간격을 변화시켜 주위 유동을 계측하였다. 영각에 따른 쌍동타 주위에서 생성되는 와의 생성과 소멸 메커니즘을 이해하기 위해 속도 및 에너지 분포를 2-프레임 그레이레벨 상호상관 PIV기법을 이용하여 비교 분석하였다. 쌍동타의 상 하부 간극의 영향에 따른 측압력은 0.75L에서 향상되었다.

• 대한조선학회지
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• 제21권3호
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• pp.35-42
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• 1984

In this paper, the lateral motions of a ship in the time domain are treated by applying the Impulse Response Function Technique. The acceleration, and displacement of a ship in the time domain are needed for the purpose of such automatic controls as the fire control system and the auto-pilot of ocean-going vessels, etc. The response Amplitude Operators of a ship are calculated by the Strip Method of Salvesen-Tuck-Faltinsen, and the Pierson-Moskowitz Spectrum multiplied by spreading function is used to represent the short crested ocean waves. The ocean wave elevations in the time domain are simulated according to the Method of Borgman. Finally the rudder effect is considered by simply adding the force and moment due to the rudder to the wave exciting force. And the results of lateral motions with and without rudder are shown.

• 동력기계공학회지
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• 제13권5호
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• pp.18-24
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• 2009

This paper shows the result of development about the revolution system of azimuth thruster which of power is less than 250kW for small ship. Advanced Azimuth revolution system can revolve propeller and rudder from 360 degree so that this system for vessel maneuvering can be excellent of propulsion effectively. Fluid power control system for azimuth thruster is designed with PID control system by using CEMTool/SIMTool program. And the actuator used for servo valve can control rudder angle, pressure and direction. The first, We had a test for the angle control of revolution system. The result of angle control confirmed that it has the good efficiency from experiment result of time input degree $30^{\circ}$, $90^{\circ}$ and $180^{\circ}$. The second, We had to a test for the pressure characteristic of hydraulic motor. As a result, We confirmed the maximum pressure 3.5MPa and steady state 0.7MPa nom experiment result of time input degree $30^{\circ}$. In this paper, it is identified the pressure characteristic of hydraulic motor and angle control for azimuth thruster by AMESim, and it has been confirmed the usefulness of AMEsim modeling was verified by comparison between AMESim simulation results and experiments results.

• 한국정보통신학회논문지
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• 제7권7호
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• pp.1509-1513
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• 2003

선박 자율운항 시스템은 운항 안전성 확보, 운항능률의 향상, 선내 노동력 감소 및 작업환경 개선에 목표로 두고 있으며, 궁극적으로는 운항 경제성 확보를 통한 승선 인원의 최소화에 그 목적이 있다. 최근에는 적응제어방법 등을 응용하여 선박의 다양한 비선형성을 보상하고 선박의 회두각 유지제어, 항로 추적제어, 롤-타각제어, 선박 위치제어, 선박 자동접이안 등의 분야에 관한 연구가 수행중이며 실제 선박을 대상으로 한 응용연구가 진행 중에 있다. 선박의 Steering Machine에 의해 조정되는 Rudder angle과 선박의 회두각의 관계와 Load Condition은 선박운항 파라메터에 영향을 주는 비선형적인 요소로서 작용한다. 또한 외란 요소인 파도의 유속과 방향, 풍속과 풍량 등은 선박의 운항을 힘들게 하는 주요 요인이 된다. 따라서 선박 자율운항 시스템에는 다양한 비선형성을 극복할 수 있는 강인한 제어 알고리즘을 필요로 한다. 본 논문에서는 퍼지 알고리즘을 이용하여 선박의 비선형적인 요인 및 외란을 극복할 수 있는 선박 자율운항 시스템을 설계하고 시뮬레이션을 통행 제안된 알고리즘의 우수성을 확인하였다.