• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.189-195
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• 2019

In this study, experiments with a floater using flapping foils were performed to develop a new station keeping system that can maintain its position in waves without mooring lines. The foils applied to this system generate thrust using wave energy. In this experiment, the motion of the floater was analyzed in three different wave periods. Sixteen foils were attached to the cylindrical floater. The thrust of each foil was controlled by changing its azimuth angle, and three cases were compared. Based on the previous data, we made more precise measurements and found an optimal model for stationkeeping under each wave condition. We verified the potential of this new stationkeeping system using flapping foils, and conclusions were drawn from the results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.9
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• pp.64-74
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• 2003

This paper proposes a new autonomous stationkeeping system suitable for geostationary satellite and conducts computer simulation to verify the proposed algorithm. The proposed onboard system receives pseudo-range signal from ground equipments located at two different position with long baseline, determines the orbit error in realtime and generates orbit control commands. For minimized onboard stationkeeping logic and better reliability, the orbit controller is designed to generate control signal to have the orbit roughly follow predetermined reference range data which is generated through ground based computer simulation. The reference range data is assumed to be uploaded with time tag. A simple orbit controller is proposed which combines the reference $\Delta$V and feedback control signal. Finally, the performance of the proposed system is verified through the computer simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.10
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• pp.67-76
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• 2004

This paper improves existing 'fly-the-wire' based autonomous station-keeping system, suitable for geostationary satellite and introduces results of computer simulations conducted to verify the algorithm. The on-board stationkeeping system receives pseudo-range signals from two ground equipments located with long baseline, determines the orbit error in realtime and generates orbit control commands. To reduce fuel consumption, this paper proposes an on-board orbit control logic using modified fly-the-wire method. The modified fly-the-wire method de-couples error components into two dynamic modes, harmonic and linear motion. The harmonic error components are removed by applying output commands produced by feedback controller, and the linear motions are controlled by the correction ${\Delta}V\;s$ added to reference maneuvers. The reference maneuvers are generated through the ground based computer simulation and embedded or uploaded into the on-board computer with time tags. Finally, the performance of the proposed algorithm is verified through a series of computer simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.9
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• pp.81-88
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• 2005

This paper analyzes the fuel consumption for the momentum dumping of the COMS which has a single solar array system. First, numerical analyses are conducted to find an optimal momentum dumping time considering the COMS configuration. It is assumed that the momentum dumping is conducted once a day and at a fixed time of a day. Secondly, in an effort to reduce the momentum dumping fuel consumption, this paper proposes a new approach which combines the momentum dumping and the ordinary north/south stationkeeping. Finally, to evaluate the proposed technique, the stationkeeping simulations are conducted and analyzed.

• International Journal of Ocean System Engineering
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• v.2 no.2
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• pp.97-105
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• 2012

A all floating structures operating within a limited area require, stationkeeping to maintain the motions of the floating structure within permissible limits. In this study, methods for selecting and optimizing the mooring system Caisson for floating wind turbines in shallow water are investigated. The design of the mooring system is checked against the governing rules and standards. Adequately verifying the design of floating structures requires both numerical simulations and model testing, the combination of which is referred to as the hybrid method of design verification. The challenge in directly scaling moorings for model tests is the depth and spatial limitations of wave basins. It is therefore important to design and build equivalent mooring systems to ensure accurate static properties (global restoring forces and global stiffness).

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.33 no.4
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.19-29
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• 2000

Because the previous simulation tool for attitude control of satellite was designed for the modeling of rigid body and PD controller, the attitude error can be made more than the limitation value for keeping for communication link, and then the communication link can be lost at moving of satellite. So, for rapid attitude restoration and design of stable and modernized controller, the modelling of rigid body and flexible body structure for moving GEO and LEO satellites were performed. Also the minimum time controller is designed for the rapid restoration of attitude error at communication broken and to minimize the disconnection period from ground communication system during the satellite stationkeeping. The linear regulator is designed using the space state vector that is better than accuracy and stability of PD controller. Firstly the simulation was performed for comparison of the rigid and stability of PD controller. Firstly the simulation was performed for comparison of the rigid and flexible models using PD controller and the case of the pitch angle changing by ground command, and the case of the periodic north-south stationkeeping are performed for the analysis of response characteristics of each controller when the attitude is changed. As a result, the flexible body model represents more sililar results of real situation than the rigid body model. The minimum time controller can restore 7 times rapidly than PD controller for its lost attitude. The linear regulator has several merits for capability of adaptation against the external disturbance, stability and response time. In future, we can check the estimated results using this satellite model and controller for real operation. Futhermore the development of new controller and training can be supported.