• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.2
• /
• pp.402-408
• /
• 2017

This paper deals with a robust ${\mathfrak{H}}_{\infty}$ controller design problem for waypoints tracking of large displacement unmanned underwater vehicles (LDUUVs) in Takagi-Sugeno fuzzy form. The LDUUV model uses a rudder to control its horizontal motion. We determine the order of waypoints based on their priorities and consider only surge force. A fuzzy controller in state-feedback form is taken and its design condition of is represented in terms of linear matrix inequalities. A numerical simulation is included to show the effectiveness of the theoretical development.

• Journal of the Society of Naval Architects of Korea
• /
• v.59 no.3
• /
• pp.173-182
• /
• 2022

The present study suggests a procedure of establishing a ship dynamics modeling by regression of free-running model test results. The hydrodynamic force and moment of the whole model ship is derived from the low-pass filtered acceleration in the turning circle and zigzag maneuver tests. Force and moment of the propeller and rudder are separated from that of the whole ship to acquire the hull force and moment terms, based on the principles of the component model. The low-pass filter frequency is verified in prior to dynamics modeling, to find the threshold frequency of 2.5 Hz. The dynamics modeling of the hull is compared with the component modeling by captive model tests. Because of strong correlation between sway velocity, yaw angular velocity, and heel angle, each maneuvering coefficient is not able to be validated, but the whole modeling shows good agreement with the captive model tests.

• Journal of Drive and Control
• /
• v.12 no.1
• /
• pp.15-20
• /
• 2015

For testing a newly designed ship's steering gear, a steering gear test bench with a steering gear to be tested and a load generation part should be prepared. The load given to the steering gear has to be pertinent to the load generated in a targeted ship. In this study, the authors suggest a process of estimating the load given to steering gears in ships. At first, a test for measuring the load in the steering gear of a real ship was conducted. Then, a process was developed to compute rudder driving torque and force by using basic equations including some empirical equations on ship's steering. The test results and the computation results on the load in the steering gear were compared, As a result, the process suggested in this study for estimating load in ship's steering gears was verified.

• Journal of Ship and Ocean Technology
• /
• v.10 no.4
• /
• pp.12-23
• /
• 2006

In this paper, a numerical study is carried out to investigate the turbulent flow around a twin-skeg container ship model with rudders including propeller effects. A commercial CFD code, FLUENT is used with body forces distributed on the propeller disk to simulate the ship stem and wake flows with the propeller in operation. A multi-block, matching, structured grid system has been generated for the container ship hull with twin-skegs in consideration of rudders and body-force propeller disks. The RANS equations for incompressible fluid flows are solved numerically by using a finite volume method. For the turbulence closure, a Reynolds stress model is used in conjunction with a wall function. Computations are carried out for the bare hull as well as the hull with appendages of a twin-skeg container ship model. For the bare hull, the computational results are compared with experimental data and show generally a good agreement. For the hull with appendages, the changes of the stem flow by the rudders and the propellers have been analyzed based on the computed result since there is no experimental data available for comparison. It is found the flow incoming to the rudders has an angle of attack due to the influence of the skegs and thereby the hull surface pressure and the limiting streamlines are changed slightly by the rudders. The axial velocity of the propeller disk is found to be accelerated overall by about 35% due to the propeller operation with the rudders. The area and the magnitude of low pressure on the hull surface enlarge with the flow acceleration caused by the propeller. The propellers are found to have an effect on up to the position where the skeg begins. The propeller slipstream is disturbed strongly by the rudders and the flow is accelerated further and the transverse velocity vectors are weakened due to the flow rectifying effect of the rudder.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.26 no.4
• /
• pp.412-418
• /
• 2020

Generally, the propeller shaft that constitutes the ship shaft system has different patterns of behavior due to the ef ects of engine power, propeller load and eccentric thrust, which increases the risk of bearing failure by causing local load variations. To prevent this, different studies of the propulsion shaft system have been conducted focused the relative inclination angle and oil film retention between the shaft and the support bearing, mainly with respect to the Rules for the Classification of Steel Ships. However, in order to secure the stability of the propulsion shaft via a more detailed evaluation, it is necessary to consider dynamic conditions, including the transient state due to sudden change in the stern wakefield. In this context, a 50,000 DWT vessel was analyzed using the strain gauge method, and the effects of propeller shaft movement were analyzed on the starboard rudder turn which is a typical transient state during normal continuous rate(NCR) operation in ballast draught condition. Analysis results confirm that the changed propeller eccentric thrust acts as a force that temporarily pushes down the shaft to increase the local load of the stern tube bearing and negatively affects the stability of the shaft system.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.12 no.2
• /
• pp.821-828
• /
• 2011

This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.19 no.2
• /
• pp.193-199
• /
• 2013

Course keeping ability of ships under wave are analyzed with wave. The simulation with three degrees of freedom is developed and 3-D source distribution method is applied to get wave force for the simulation. The simulation is conducted with the restriction of maximum rudder angle and time delay of control and regular wave and irregular wave are considered as the source of external forces. Simulations with ships which have different maneuverability with tuned hydrodynamic coefficients are developed to assess the variation of the course keeping ability depending on the ship's maneuvering characteristics. The course Keeping ability is evaluated by comparison of distance while the ships are simulated with autopilot control.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.21 no.1
• /
• pp.3-12
• /
• 1984

Up to now, it has been common to treat the maneuvering motion of a ship as a 3-degree-freedom motion i.e. surge, sway and yaw on the sea surface, for the simplicity and mathematical calculation, and it is quite acceptable in the practical point of view. Meanwhile, considering the maneuverability of a ship under the special conditions such as in irregular waves, in wind or at high speed with small GM value, it is required that roll effect must be considered in the equation of ship motion. In this paper the author tried to build up the 4-degree-freedom motion equation by adding roll. And then, applying the M.M.G.'s mathematical model and with captive model test results the roll-coupled hydrodynamic derivatives were found. With these the author could make some simulating program for turning and zig-zag steering. Through the computer simulations, the effect of roll to the ship maneuver became clear. The effect of the wind force to the maneuverability was also found. Followings are such items that was found. 1) When roll is coupled in the maneuvering motion, the directional stability becomes worse and the turning diameter becomes smaller as roll becomes smaller as roll becomes larger. 2) When maneuver a ship in the wind, the roll becomes severe and the directional stability becomes worse. 3) When a ship turns to the starboard side, the wind blowing from 90 degree direction to starboard causes the largest roll and the largest turning diameter, and the wind from other direction doesn't change the turning diameter. 4) When a ship is travelling with a constant speed with rudder amidship, if steady wind blows from one direction, the ship turns toward that wind. This phenomenon is observed in the actual seaways.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.10
• /
• pp.882-887
• /
• 2012

This paper describes on the aerodynamic characteristics of the first domestically manufactured aircraft, Buhwalho, in Korea. The computational fluid dynamics(CFD) calculations and wind tunnel test were utilized to investigate the basic aerodynamic characteristics of aircraft with control surface deflections and attitude changes. Variations of lift, drag and pitching moment due to angles of attack and control surface deflections were analyzed and also flight stability due to side force, yawing and rolling moments caused by the change of sideslip angles, rudder and aileron deflections were discussed. Through this study, the meaningful aerodynamic data by CFD calculations and wind tunnel tests were obtained and the flight characteristics based on these data were confirmed accordingly by the flight tests.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.5
• /
• pp.335-342
• /
• 2020

Tailless aircraft designed for stealth efficiency uses spoilers instead of rudders for the directional control. When the spoiler is rapidly deployed, highly nonlinear and unsteady aerodynamic characteristics can be generated, resulting in adverse effects on aircraft flight performance. This paper investigates the aerodynamic characteristics of an airfoil with moving spoiler using dynamic mesh CFD technique. The effects of spoiler operation speed, mounting location, and deployment scheduling are analyzed to reduce the adverse effects of the spoiler's dynamic operation. The results shows that the adverse effects of dynamic spoiler can be reduced by appropriate selection of the spoiler mounting location and deployment scheduling.