• 대한조선학회논문집
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• 제47권1호
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• pp.99-111
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• 2010

Recently, a very large vessel's maneuvering performance, rudder performance and rudder design's importance is considered to be an important subject. There have been few studies on the design process of rudder device before. The aim of this paper is to investigate a design process of rudder device and to propose a generalized design process of rudder device. Firstly, we investigated the rudder device design process of Korean major shipyards. And the differences of a torque calculation method, rudder section design, maneuvering performance examination method, etc were analyzed theoretically. Secondly, the design process of rudder device was divided into concept design, initial design and detail design. In concept design, a rudder area was estimated and its validity was examined. In initial design, rudder profile and design method has been selected through rudder form determination process. And principal dimension and steering gear capacity were determined. Maneuvering performance was also examined by simulation tool. In detail design, design criteria considered in rudder initial design has been investigated thoroughly. Also a rudder torque, rudder cavitation performance and rudder structure analysis were estimated. And maneuvering performance was also examined by model test. Finally, based on the results of investigation, the design process of rudder device was generalized and proposed.

• 한국해양공학회지
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• 제35권2호
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• pp.99-112
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• 2021

The prediction of maneuverability is very important in the design process of an underwater vehicle. In this study, we predicted the steady turning ability of a symmetrical underwater vehicle while considering interactions between the yaw rate and drift/rudder angle through a simulation-based methodology. First, the hydrodynamic force and moment, including coupled derivatives, were obtained by computational fluid dynamics (CFD) simulations. The feasibility of CFD results were verified by comparing static drift/rudder simulations to vertical planar motion mechanism (VPMM) tests. Turning motion simulations were then performed by solving 2-degree-of-freedom (DOF) equations with CFD data. The turning radius, drift angle, advance, and tactical diameter were calculated. The results show good agreement with sea trial data and the effects on the turning characteristics of coupled interaction terms, especially between the yaw rate and drift angle.

• 한국기계가공학회지
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• 제20권1호
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• pp.80-87
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• 2021

Most container ships are currently being constructed as Ultra-Large Container Ships. Hence, the equipment of the ships is also becoming relatively large. In particular, propellers, rudders, and rudder stocks are large in the stern structure, and in relation, efficient design of the hull structures to safely secure these parts is important. The bottom shell plate surface of a stern skeg is a perforated plate from which the rudder stock penetrates, so it is an important component for the stern structure. In this paper, to determine the critical buckling of the shell plate, an interaction curve equation for the two-axis compression of the shell plate was derived using the maximum value of the static structural stress multiplier in a load multiplier mode. This equation predicts the timing of the buckling occurrence. By analyzing this interaction curve equation, the buckling behavior of the plates subjected to a combination load was determined and the usefulness of applying it to ship building was investigated.

• 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.

• 대한조선학회논문집
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• 제44권2호
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• pp.74-82
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• 2007

Recently, the erosion due to cavitation frequently occurs on a horn-type rudder of a high-speed large container carrier. It is necessary to understand the flow characteristics around a rudder in fully wetted and cavitating flow condition, and the process of generation and collapse of cavitation for a rudder design to minimize the cavity-induced erosion. The flow characteristics around a two-dimensional hydrofoil(NACA66) are investigated through the computational method utilizing a viscous flow theory applied to a cavitation model. The computational results from the viscous flow theory are verified by the comparison with the experimental results, and are compared with those from the potential flow theory. The effects of angle of attack, Reynolds number, cavitation number, and thickness ratio on the cavitating flow are also investigated.

• 한국항공우주학회지
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• 제42권12호
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• pp.997-1003
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• 2014

무인항공기의 자동이착륙을 성공적으로 수행하기 위해서는 자동 지상활주 제어는 반드시 설계되어야 하는 중요한 부분이다. 이러한 지상활주 제어기를 설계하기 위해서는 정확하고 신뢰도 높은 착륙장치 모델은 반드시 필요하다. 본 연구에서는 착륙장치 모델링을 완성하기 위해서 특별히 착륙장치 측력 모델링을 수행하였다. 조향각 명령을 포함한 Cornering Angle을 계산하여 측력을 모델링하였다. 그리고 모델링된 착륙장치 모델을 포함한 비선형 6자유도 시뮬레이션 환경을 이용하여, 항공기의 바람벡터 방향인 Course Angle 오차를 해소하기 위한 전륜 조향(Nose Wheel Steering)과 러더 조향(Rudder Steering)을 동시에 이용하는 자동 지상활주 제어기를 설계하였다. 설계된 지상활주 제어기를 동일하게 적용하여, 착륙장치 모델을 포함한 시뮬레이션 결과와 실제 무인기를 이용한 자동 지상활주 시험 결과를 비교하였고, 이로써 착륙장치 측력 모델링과 지상활주 제어기의 정확성을 입증하였다.

• 수산해양기술연구
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• 제59권2호
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• pp.145-154
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• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

• 대한조선학회논문집
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• 제41권6호
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• pp.75-83
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• 2004

Ice rubble pieces broken by the bow impact load and side hull of an icebreaking vessel usually pass along the ship's bottom hull and may hit the propeller/rudder or other stern structures causing serious damage to ship's hull . Therefore it is important to estimate the size of broken ice pieces during the icebreaking process. The dynamic interaction process of icebreaker with infinite ice sheet is simplified as a wedge type beam of finite length supported by elastic foundation. The wedge type ice beam is leaded with vertical impact forces due to the inclined bow stem of icebreaking vessels. The numerical model provides locations of maximum dynamic bending moment where extreme tensile stress arises and also possible fracture occurs. The model can predict a failure length of broken ice sheet given design parameters. The results are compared to Nevel(1961)'s analytical solution for static load and observed pattern of ice sheet failure onboard an icebreaker. Also by comparing computed failure length with the characteristic length, the meaning of ice rubble sizes is discussed.