• 한국항해학회지
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• 제21권1호
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• pp.103-108
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• 1997

Mathematical model of maneuvering motion for a single-screw single-rudder ship is established and several applications to the special situations of maneuvering are attempted. While, the mathematical model for twin-screw twin-rudder ship is not presented so much, because that type of ship is not popular. Lee et al. have examined the characteristics of such ship by captive model tests in 1988, in Japan. This paper proposes new mathematical models for propeller effective wake (1 -${\omega}_p$) and effective neutral rudder angle ${delta}_R$ in the case of twin-screw twin-rudder ship. And some maneuvering motionse are calculated with proposed models and compared with exact simulations.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1996년도 The Korean Institute of Navigation 1996년도 한·중 국제학술 심포지움 및 추계학술발표회 논문집
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• pp.81-88
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• 1996

Mathematical model of maneuvering motion for a single-screw single-rudder ship is established and several applications to the special situations of maneuvering are attempted. While the mathematical model for twin-screw twin-rudder ship is not studied presented so much because that type of ship is not popular. Lee et al. have examined the characteristics of such ship by captive model tests in 1988 in Japan. This paper proposes new mathematical models for propeller effective wake (1-wp) and effective neutral rudder angle $\delta$R in the case of twin-screw twin-rudder ship. And some maneuvering motions are calculated with proposed models and compared with exact simulations.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2010년도 춘계학술대회
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• pp.387-388
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• 2010

선박의 조종성능 향상을 위해 적용되고 있는 쌍동타의 유체력 평가를 위해 $Re=1.5\times10^4$에서 쌍동타의 상 하부 리더 간격을 변화시켜 주위 유동을 계측하였다. 영각에 따른 쌍동타 주위에서 생성되는 와의 생성과 소멸 메커니즘을 이해하기 위해 속도 및 에너지 분포를 2-프레임 그레이레벨 상호상관 PIV기법을 이용하여 비교 분석하였다. 쌍동타의 상 하부 간극의 영향에 따른 측압력은 0.75L에서 향상되었다.

• 한국해양공학회지
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• 제37권3호
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• pp.122-128
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• 2023

Autonomous berthing is a crucial technology for autonomous ships, requiring optimal trajectory planning to prevent collisions and minimize time and control efforts. This paper presents a two-phase, two-point boundary value problem (TPBVP) strategy for creating an optimal berthing trajectory for a twin-propeller, twin-rudder ship with autonomous berthing capabilities. The process is divided into two phases: the approach and the terminal. Tunnel thruster use is limited during the approach but fully employed during the terminal phase. This strategy permits concurrent optimization of the total trajectory duration, individual phase trajectories, and phase transition time. The efficacy of the proposed method is validated through two simulations. The first explores a scenario with phase transition, and the second generates a trajectory relying solely on the approach phase. The results affirm our algorithm's effectiveness in deciding transition necessity, identifying optimal transition timing, and optimizing the trajectory accordingly. The proposed two-phase TPBVP approach holds significant implications for advancements in autonomous ship navigation, enhancing safety and efficiency in berthing operations.

• 대한조선학회논문집
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• 제33권4호
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• pp.60-65
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• 1996

1축 1타선에 대한 조종운동 수학모델은 통상적인 경우 이미 확립되어 널리 사용되고 있다. 또한 저속이나 천수역에서의 조종운동계산에도 응용되고, 새로운 국면의 조종운동 해석에도 기존의 조종수학 모델이 근간이 되고 있다. 한편 2축 2타선과 같은 특수선형에 대해서는 Lee 등에 의한 상세한 구속모형시험 결과로 그 특성이 알려지게 되었고, 1축 1타를 기본으로 하는 기존 수학모델에 약간의 수정을 가함으로서 충분이 조종운동을 추정할 수 있음을 보였다. 본 논문에서는 2축 2타선에 대한 Propeller Effective Wake($1-w_p$)와 유효중립타각 (Effective Neutral Rudder Angle) ${\delta}_R$에 대한 추정모델을 제안하고, Hull의 유체력에 관해서도 Inoue의 추정식을 사용하여, 초기설계단계에서 선박의 주요치수, Propeller 및 타 제원만으로서 개략적인 2축 2타선의 조종운동 계산을 가능하도록 하였다. 이 추정법에 의한 조종운동 계산결과를 엄밀한 구속모형 시험 Data에 의한 계산과 비교하여, 본 논문에서 제안된 추정법의 유용성을 검증하였다.

• 한국항해항만학회지
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• 제34권5호
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• pp.325-330
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• 2010

선박의 조종성능 향상을 위해 적용되고 있는 쌍동타의 유체력 평가를 위해 $Re=1.5{\times}10^4$에서 쌍동타의 상 하부 러더 간격을 변화시켜 쌍동타 주위 유동을 계측하였다. 영각의 변화에 따른 쌍동타 주위에서 생성되는 와의 생성과 소멸 메커니즘을 이해하기 위해 속도 및 에너지 분포를 2-프레임 그레이레벨 상호상관 PIV기법을 이용하여 비교 분석하였다. 쌍동타의 상 하부 러더 간격 L=0.75C에서 물리적 한계영역으로 정의되었다.

• 대한조선학회논문집
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• 제43권1호
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• pp.15-21
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• 2006

Recently, the attention to large container ships whose size is greater than 10,000 TEU container ship has been increased due to their increasing demand. The large container ship has twin skegs because of the engine capacity and large beam-draft ratio. In this paper, the maneuvering characteristics of a container ship with twin skegs were investigated through 4DOF(four degree of freedom) HPMM(Horizontal Planar Motion Mechanism) test and computer simulation. A mathematical model for maneuvering motion with 4DOF of twin skegs system was established to include effects of roll motion on the maneuvering motion. And to obtain roll-coupling hydrodynamic coefficients of a container ship, 4DOF HPMM system of MOERI which has a roll moment measurement system was used. HPMM tests were carried out for a 12,000 TEU class container ship with twin skegs at scantling load condition. Using the hydrodynamic coefficients obtained, simulations were made to predict the maneuvering motion. Rudder forces of twin-rudders were measured at the angles of drift and rudder. The neutral rudder angles with drift angles of ship was quite different with those of single skeg ship. So other treatment of flow straightening coefficient $\gamma_R$ was used and the simulation results was compared with general simulation result. The treatment of experimental result at static drift and rudder test was very important to predict the maneuverability of a container ship with twin skegs.

• 해양환경안전학회지
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• 제7권3호
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• pp.1-16
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• 2001

선박의 항행안전의 문제가 중요시됨에 따라 선박조종시뮬레이터를 이용한 운항훈련, 안전성 검토 등이 필요성이 중요하게 인식되고 있다. 또한 추진성능을 향상시킬 목적으로 다양한 선종이 출현되고 있고, 이에 따라 선박조종시뮬레이터의 개발에 있어서 선박의 데이터베이스는 필수적이라고 할 수 있다. 따라서 선종에 따른 수학모델을 각각 선박조종시뮬레이터에 적용시킴으로써 다양한 조종 시뮬레이션을 가능하게 할 수 있다. 본 논문에서는 우수한 추진성능을 목적으로 한 2축2타선박을 대상으로 조종운동 수학모델을 정식화하였다. 구체적으로 항만내에서의 저속시 조종운동을 구현할 수 있는 수학모델에 대해서 검토하였으며, 선체·프로펠러·타의 상호간섭에 대해서도 고려하였다. 또한, 수치시뮬레이션을 수행함으로써 2축2타선박의 기본적인 조종성능을 확인하였다.

• 대한조선학회논문집
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• 제54권2호
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• pp.161-169
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• 2017

Recently, ship owners have been requiring the assessment of the maneuverability of twin-screw ships under mechanical failures. Because this kind of assessment has not yet been conducted, it is necessary to study the types of machinery failures that can significantly affect the maneuverability of a ship, and to construct a procedure to simulate the maneuvering behavior under such failures. In this paper, the sole focus is the steering system failure from among the variety of failure types, and the maneuvering behavior of the ship under the single rudder failure is simulated for an investigation of the unique characteristics. First, the mathematical model for the twin-screw container ship is verified by comparing the simulated results for the $35^{\circ}$ turning test, $10^{\circ}/10^{\circ}$ zigzag test, and $20^{\circ}/20^{\circ}$ zigzag test under the normal operating condition with those obtained from free running model tests. After the IMO maneuvering tests are additionally simulated under the single rudder failure, the results are reviewed to investigate the maneuvering characteristics that are due to the failure. Further, the $35^{\circ}/35^{\circ}$ zigzag test and the $35^{\circ}$ turning test are simulated to additionally investigate the effects of the single rudder failure on the steering and turning abilities.

• 대한조선학회논문집
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• 제58권6호
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• pp.391-399
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• 2021

In order to investigate force and cavitation characteristics for the flat & twisted rudders in the Large Cavitation Tunnel (LCT), the rudder dynamometer was designed and manufactured. The measuring capacities of lift, drag and moment are ±1000 N, ±2000 N, and ±150 N-m, respectively. The present dynamometer uses the actuator with a harmonic drive to control the rudder angle without backlash. As the target ship is a military ship with twin shaft, each dynamometer was installed above the port & starboard rudders. After the installation of the model ship with all appendages, the model test composed of rudder force measurement and cavitation observation was conducted for the existing flat rudder & the designed twisted rudder. While the flat rudder showed the big difference of lift & moment between port & starboard, the twisted rudder presented a similar trend. The cavitation of the twisted rudder showed better characteristics than that of the flat rudder. Another set of model tests were conducted to investigate rudder performance by the change of the design propeller. There was little difference in rudder performance for the design propellers with slight geometric change. Through the model test, the characteristics of the flat & twisted rudders were grasped. On the basis of the present study, it is thought that the rudder with better performance would be developed.