• 대한조선학회지
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• 제21권1호
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• pp.3-12
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• 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.

• 대한조선학회논문집
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• 제59권6호
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• pp.338-344
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• 2022

Roll moment usually is ignored when analyzing the maneuverability of surface ships. However, it is well known that the influence of roll moment on maneuverability is significant for ships with small metacentric height such as container ships, passenger ships, etc. In this study, a pure roll test is performed to determine the hydrodynamic derivatives with respect to roll motion as added mass and damping. The target ship is an autonomous surface ship designed to carry containers with a small drift and large freeboard. The commercial code of STAR CCM+ software is applied as a specialized tool in naval hydrodynamic based on RANS equation for simulating the pure roll of the ship. The numerical uncertainty analysis is conducted to verify the numerical accuracy. By distinguishing the in-phase and out-of-phase from hydrodynamic forces and moments due to roll motion, added mass derivatives and damping derivatives relative to roll angular velocity are obtained.

• 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.

• 대한조선학회논문집
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• 제49권1호
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• pp.14-25
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• 2012

Recently, the application and installation of the pod propeller to the cruise ship is dramatically increased. It is because pod propulsion system allows a lot of flexibility in design of the internal arrangement of a ship. To reflect this trend, many researches have conducted to use the pod propeller for the roll stabilization of a ship. In the paper, a roll stabilization controller is designed by using fins and pod propellers as the control actuators for cruise ships. Two kinds of control algorithms are adopted for the roll control system; LQR (Linear Quadratic Regulator) algorithm and frequency-weighted LQR algorithm. Through the numerical simulation, the effect of the turning rate of the pod propeller on the roll control system is analyzed. Analysis of the simulation results indicated that the turning rate of the pod propellers is one of the important parameters which give the significant effects on the roll stabilization.

• 대한기계학회논문집A
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• 제26권2호
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• pp.329-339
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• 2002

In ship operation the consequency of roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization control system design have been performed and very good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used to exclusively to stabilize the roll. This paper examines the two-degree-of-freedom servosystem design technique to synthesize the yaw control system which achieves the course keeping object of the ship and the H$_{\infty}$ control approach to suppress the roll motion, respectively.

• Ocean Systems Engineering
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• 제5권2호
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• pp.55-76
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• 2015

Of all the six degrees of freedom, the roll motion of a ship is the most poorly understood and displays complicated phenomena. Due to the low potential wave damping at the natural frequency, the effective analysis of ship roll dynamics comes down to the accurate estimation of the viscous roll damping. This paper provides overview of the importance of roll damping and an extensive literature review of the various viscous roll damping prediction methods applied by researchers over the years. The paper also discusses in detail the current state of the art estimation of viscous roll damping for ship shaped structures. A computer code is developed based on this method and its results are compared with experimental data to demonstrate the accuracy of the method. While some of the key references describing this method are not available in English, some others have been found to contain typographic errors. The objective of this paper is to provide a comprehensive summary of the state of the art method in one place for future reference.

• 대한조선학회논문집
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• 제41권4호
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• pp.53-58
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• 2004

When a fast container ship or a naval vessel is turning, comparable roll motions occur. Therefore, roll effect has to be considered in the horizontal equations of motion of the ship to predict the maneuverability well. In this thesis, a new method to determine a roll model structure and estimate its coefficients by applying the system identification technique to the data of sea trial tests was proposed. The simulation results from the estimated roll model were well consistent with the true one in spite of the difference between the estimated and the true model structures of roll hydrodynamic moment.

• International Journal of Naval Architecture and Ocean Engineering
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• 제2권3호
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• pp.119-126
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• 2010

The response of ship roll oscillation under random ice impulsive loads modeled by Poisson arrival process is very important in studying the safety of ships navigation in cold regions. Under both external and parametric random excitations the evolution of the probability density function of roll motion is evaluated using the path integral (PI) approach. The PI method relies on the Chapman-Kolmogorov equation, which governs the response transition probability density functions at two close intervals of time. Once the response probability density function at an early close time is specified, its value at later close time can be evaluated. The PI method is first demonstrated via simple dynamical models and then applied for ship roll dynamics under random impulsive white noise excitation.

• 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.

• 대한조선학회논문집
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• 제49권1호
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• pp.52-59
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• 2012

Among many factors to be considered for higher safety level requirements, the hull stability in intact and damaged conditions in seaways is of utmost importance. Since the assessment of a damaged ship is complicated due to the highly non-linear behavior, it is widely acknowledged that computational fluid dynamics (CFD) methods are one of the most feasible approaches. Although many research activities are being reported on the damaged ship stability recently, most of them are not designed for validation of CFD studies. In this study, well-designed model tests were performed to build a CFD validation database, which is essential in developing better CFD methods for the damage stability assessment. The geometry of the damaged compartment and test conditions were determined based on preliminary CFD simulations. Free roll decay tests in calm water with both intact and damaged ships were performed and the roll motion characteristics were compared. The damaged ship showed a larger roll damping coefficient and more rapid decrease of roll amplitude than the intact ship. The primary reason of these efforts can be explained by the movement of the flooded water.