• 수산해양기술연구
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• 제56권3호
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• pp.238-245
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• 2020

In this study, a motion control problem for the vessel towed by towing ship on the sea is considered. The towed vessel does not have self-control capabilities such that its course stability totally depends on the towing ship. Especially, in the narrow canal, river and congested harbor area, extreme tension is required during the towing operation. The authors, therefore, propose a new control system design method in which the rudder is activated to provide its maneuverability. Based on the leader following system configuration, a nonlinear mathematical model is derived and a backstepping control is designed. By experiment results with nonlinear control framework, the usefulness and effectiveness of the proposed strategy are presented.

• Structural Engineering and Mechanics
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• 제23권3호
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• pp.309-323
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• 2006

In this paper, seismic response of a free-standing ship located in a dry dock and supported by an arrangement of n keel blocks due to base excitation is addressed. Formulation of the problem including derivation of governing equations in various modes of motion as well as transition conditions from one mode to another is given in Moghaddasi and Bargi (2006) by same authors. On the base of numerical solution for presented formulation, several numbers of analyses are conducted to study sensitivity of system's responses to some major contributing parameters. These parameters include friction coefficients between contacting surfaces, block dimensions, peak ground acceleration, and the magnitude of vertical ground acceleration. Finally, performance of a system with usual parameters normally encountered in design is investigated.

• Journal of Ship and Ocean Technology
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• 제4권2호
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• pp.1-12
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• 2000

The present study concentrates on the weak-scatterer hypothesis for the nonlinear wave-body interaction problems. In this method, the free surface boundary conditions are linearized on the incoming wave profile and the exact body motion is applied. The considered problems are the diffraction problem near a circular cylinder and the ship response in oblique waves. The numerical method of solution is a Rankine panel method. The Rankine panel method of this study adopts the higher-order B spline basis function for the approximation of physical variables. A modified Euler scheme is applied for the time stepping, which has neutral stability. The computational result shows some nonlinear behaviors of disturbance waves and wave forces. Moreover, the ship response shows very close results to experimental data.

• 한국해양공학회지
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• 제33권5호
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• pp.462-469
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• 2019

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels, such as barge ships, are used for several purposes. Generally, these vessels have no power propulsion system and are towed using ropes and towing vessel (tugboats). The basic mathematical model of the towed vessel in which three active rudders are attached was introduced from a previous study. Owing to the dependency of the motions of the towed vessel to the towing ship, a method is suggested to cope with the undesirable disturbance and improve the tracking performance. For the simulation study, a model of the towed vessel with a towing ship is made, and necessary physical parameters are identified from the experiment. For the defined and linearized model, a control system is designed, and the control performance is also evaluated. A simulation study is conducted and the effectiveness of the proposed control strategy is verified.

• 대한조선학회논문집
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• 제47권3호
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• pp.291-305
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• 2010

A three-dimensional time-domain calculation method is of crucial importance in prediction of the motions and wave loads of a ship advancing in a severe irregular sea. The exact solution of the free surface wave-ship interaction problem is very complicated because of the essentially nonlinear boundary conditions. In this paper, an approximate body nonlinear approach based on the three-dimensional time-domain forward-speed free-surface Green function has been presented. The Froude-Krylov force and the hydrostatic restoring force are calculated over the instantaneous wetted surface of the ship while the forces due to the radiation and scattering potentials over the mean wetted surface. The time-domain radiation and scattering potentials have been obtained from a time invariant kernel of integral equations for the potentials which are discretized according to the second-order boundary element method (Hong and Hong 2008). The diffraction impulse-response functions of the Wigley seakeeping model advancing in transient head waves at various Froude numbers have been presented. A simulation of coupled heave-pitch motion of a long rectangular barge advancing in regular head waves of large amplitude has been carried out. Comparisons between the linear and the approximate body nonlinear numerical results of motions and wave loads of the barge at a nonzero Froude number have been made.

• International Journal of Naval Architecture and Ocean Engineering
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• 제9권5호
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• pp.525-536
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• 2017

Course keeping is hard to implement under the condition of the propeller stopping or reversing at slow speed for berthing due to the ship's dynamic motion becoming highly nonlinear. To solve this problem, a practical Maneuvering Modeling Group (MMG) ship mathematic model with propeller reversing transverse forces and low speed correction is first discussed to be applied for the right-handed single-screw ship. Secondly, a novel PID-based nonlinear feedback algorithm driven by bipolar sigmoid function is proposed. The PID parameters are determined by a closed-loop gain shaping algorithm directly, while the closed-loop gain shaping theory was employed for effects analysis of this algorithm. Finally, simulation experiments were carried out on an LPG ship. It is shown that the energy consumption and the smoothness performance of the nonlinear feedback control are reduced by 4.2% and 14.6% with satisfactory control effects; the proposed algorithm has the advantages of robustness, energy saving and safety in berthing practice.

• 한국해양공학회지
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• 제8권2호
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• pp.93-104
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• 1994

Recently in the design of super tankers or LNG carriers which transport a large amount of liquid in the cargo holds, the structural damage due to liquid sloshing becomes an important problem. The impact pressure from sloshing is most violent when the liquid motion of a partially filled tank is in resonance with the motion of a ship. In this paper the sloshing natural periods in liquid cargo tanks are estimated for partially filled tanks with various geometries. Especially the sloshing periods of baffled tanks which are often installed to reduce liquid motion and sloshing forces are calculated. A variational method is adopted to analyze the baffled tank of arbitrary filling depth of liquid. In this approach the liquid domain is divided into several subdomains in which the analytic solutions are potential energy are calculated from the velocity potentials in eachsubdomain. By minimizing the Hamilton's functional, the sloshing natural periods are estimated and the results are compared with experimental and numerical results.

• Selected Papers of The Society of Naval Architects of Korea
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• 제2권1호
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• pp.140-155
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• 1994

The hydrodynamic problem is treated here when a pressurized bag is submerged partially in the water and the end points of it oscillate. SES(Surface Effect Ship) has a bag filled with pressurized air at the stern in order to prevent the air leakage, and the pitch motion of SES is largely affected by the hydrodynamic force of the bag. The shape of a bag can be determined with the pressure difference between inside and outside. Once the hydrodynamic pressure is given, the shape of a bag can be obtained, however in order to calculate the hydrodynamic pressure we should know the shape change of the bag, and vice versa. Therefore the type of boundary condition on the surface of a bag is a moving boundary like a free surface boundary. The present paper describes the formulation of this problem and treats a linearized problem. The computations of the radiation problem for an oscillating bag are shown in comparison with the case that the bag is treated as a rigid body. The hydrodynamic forces are calculated for various values of the pressure inside the bag and the submerged depth.

• 대한조선학회논문집
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• 제37권2호
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• pp.46-56
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• 2000

본 논문은 손상선박의 안전대책에 관한 연구의 일환으로, 황천항행중인 선박이 충돌, 좌초 등 원인에 의해 손상을 받았을 때를 가상하고, 손상선박을 다른 안전한 장소로 예항하고자 할 때의 침로안정성 문제를 다루고 있다. 외력으로는 바람의 영향만을 고려할 때, 예선 피예선계의 침로안정성 평가를 위한 특성방정식을 도출하고, 피예선의 각 손상상태에 따른 침로안정성을 수치계산하였다. 그 결과 손상상태, 풍속, 풍향 및 예항삭의 길이 등이 침로안정성에 미치는 영향을 평가할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.249-252
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• 1997

In this paper the sway-control problem of a container crane is investigated in the perspective of controlling an underactuated mechanical system. For fast loading/unloading of containers from the ship, quick suppression of the remaining swing motion of the container at the end of each trolley stroke is crucial. Known nonlinearities are fully incorporated by feedback linearization. Robustness is enhanced by variable structure control. Compared with the linear LQ control, much better performance can be obtained.