• Journal of the Korean Society of Marine Environment & Safety
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• v.15 no.1
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• pp.57-62
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• 2009

In order to investigate the hydrodynamic interaction between the tug-barge and bank or ship which is crossing to the opposite direction, the towing simulations of tug-barge transportation were performed. Heading of barge, yaw moment and lateral force of tug boat were obtained by this simulation. The characteristics of results were analyzed and the safety towing method for tug-barge operation was proposed. In order to reduce the slewing motion of barge for safe towing operation, the speed of tug boat should be kept slow ahead state with shortened towing line as length of barge within the limits of the possible.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.426-426
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• 2006

선박이 천 흘수 및 수로를 운항하는 경우 바닥과 벽면의 영향으로 인해 선체침하 및 비대칭적인 힘이 선체 주위에 발생하여 바닥이나 다른 선박 혹은 수로의 벽에 충돌하는 현상이 발생한다. 특히, 수로가 많은 유럽이나 북미를 운항하는 해운회사와 항해사들은 선박의 충돌을 방지하기 위해서 중요한 문제로 다루고 있다. 따라서, 본 연구에서는 선박의 안전한 항해를 위해 수치해석을 이용하여 선박과 벽면 사이에 발생하는 유체역학적 힘, 즉 Sway force와 Yaw Moment를 정성적으로 추정하고자 하였다. 천 흘수 유동 해석용 프로그램을 작성하였으며, 검증을 위해서 Wigley 선형에 적용하여 h/T별로 계산을 수행하여 시험결과와 비교하였다. 그리고, 벽면효과를 해석 할 수 있는 프로그램을 작성하여 실적선인 원유운반선 2척에 대하여 3가지 파라메터, 즉 선속, 수심 그리고 선박과 벽면 사이 거리의 변화에 따른 다양한 계산을 수행하였다. 계산된 결과는 시험결과 및 기 발표된 수치해석 결과와 비교하였다. 기 발표된 논문에서는 시험결과와 계산결과가 상이한 결론을 보여 주었는데, 그 이유는 수치해석에 있어서 자유표면 문제를 선형화된 자유표면 조건식을 사용한 부분을 가장 큰 이유로 언급하였다. 하지만, 본 연구의 결과는 Sway force와 Yaw Moment가 기 발표된 논문의 시험결과와 정성적으로 일치함을 보여 주었다. 본 연구를 통해 수치해석 방법으로 선박에 작용하는 비대칭 유동에 대한 유체역학적인 힘을 정성적으로 추정할 수 있었고, 제한된 수로에서 선박의 조종성 예측 및 수로 설계시 유용한 정보를 제공할 수 있을 것이라고 판단되어 진다.

• Journal of the Society of Naval Architects of Korea
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• v.36 no.2
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• pp.72-76
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• 1999

To predict the maneuverabiliy of a ship, it is most reliable to carry out the model tests for the ship. But, at the initial design stage of ships, scene other methods of predicting the overall maneuverabiliy of ships with confined data, like principal dimensions and propeller and rudder characteristics, are required. In this paper, the authors suggested new formulas for the linear derivatives of the sway force and yaw moment, based on the captive model test carried out by the Japanese researchers. These formulas can account the effects of stern frame line shape and stern profile, when assessing the maneuverability of ships. The usefulness of the formulas are discussed by comparing the simulations with the model tests.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.595-601
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• 2015

This paper presents an unified chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. When generating the control yaw moment, an optimization problem is formulated in order to determine the tire forces, generated by ESC and AFS. With Karush-Kuhn-Tucker optimality condition, the optimum tire forces can be algebraically calculated. On low friction road, the lateral force in front wheels is easily saturation. When saturated, AFS cannot generate the required control yaw moment. To cope with this problem, new constraint on the lateral tire force is added into the original optimization problem. To check the effectiveness of the propose method, simulation is performed on the vehicle simulation package, CarSim.

• Wind and Structures
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• v.32 no.5
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• pp.471-485
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• 2021

Onshore wind turbines may experience substantially different wind loads depending on their working conditions, i.e. rotation velocity of rotor blades, incoming freestream wind velocity, pitch angle of rotor blades, and yaw angle of the wind-turbine tower. In the present study, aerodynamic loads acting on a horizontal axis wind turbine were accordingly quantified for the high tip speed ratio (TSR) at high yaw angles because these conditions have previously not been adequately addressed. This was analyzed experimentally on a small-scale wind-turbine model in a boundary layer wind tunnel. The wind-tunnel simulation of the neutrally stratified atmospheric boundary layer (ABL) developing above a flat terrain was generated using the Counihan approach. The ABL was simulated to achieve the conditions of a wind-turbine model operating in similar inflow conditions to those of a prototype wind turbine situated in the lower atmosphere, which is another important aspect of the present work. The ABL and wind-turbine simulation length scale factors were the same (S=300) in order to satisfy the Jensen similarity criterion. Aerodynamic loads experienced by the wind-turbine model subjected to the ABL simulation were studied based on the high frequency force balance (HFFB) measurements. Emphasis was put on the thrust force and the bending moment because these two load components have previously proven to be dominant compared to other load components. The results indicate several important findings. The loads were substantially higher for TSR=10 compared to TSR=5.6. In these conditions, a considerable load reduction was achieved by pitching the rotor blades. For the blade pitch angle at 90°, the loads were ten times lower than the loads of the rotating wind-turbine model. For the blade pitch angle at 12°, the loads were at 50% of the rotating wind-turbine model. The loads were reduced by up to 40% through the yawing of the wind-turbine model, which was observed both for the rotating and the parked wind-turbine model.

• Wind and Structures
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• v.19 no.2
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• pp.145-167
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• 2014

Wind-vehicle-bridge (WVB) interaction can be regarded as a coupled vibration system. Aerodynamic forces and moment on vehicles and bridge decks play an important role in the vibration analysis of the coupled WVB system. High-speed vehicle motion has certain effects on the aerodynamic characteristics of a vehicle-bridge system under crosswinds, but it is not taken into account in most previous studies. In this study, a new testing system with a moving vehicle model was developed to directly measure the aerodynamic forces and moment on the vehicle and bridge deck when the vehicle model moved on the bridge deck under crosswinds in a large wind tunnel. The testing system, with a total length of 18.0 m, consisted of three main parts: vehicle-bridge model system, motion system and signal measuring system. The wind speed, vehicle speed, test objects and relative position of the vehicle to the bridge deck could be easily altered for different test cases. The aerodynamic forces and moment on the moving vehicle and bridge deck were measured utilizing the new testing system. The effects of the vehicle speed, wind yaw angle, rail track position and vehicle type on the aerodynamic characteristics of the vehicle and bridge deck were investigated. In addition, a data processing method was proposed according to the characteristics of the dynamic testing signals to determine the variations of aerodynamic forces and moment on the moving vehicle and bridge deck. Three-car and single-car models were employed as the moving rail vehicle model and road vehicle model, respectively. The results indicate that the drag and lift coefficients of the vehicle tend to increase with the increase of the vehicle speed and the decrease of the resultant wind yaw angle and that the vehicle speed has more significant effect on the aerodynamic coefficients of the single-car model than on those of the three-car model. This study also reveals that the aerodynamic coefficients of the vehicle and bridge deck are strongly influenced by the rail track positions, while the aerodynamic coefficients of the bridge deck are insensitive to the vehicle speed or resultant wind yaw angle.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.261-268
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• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.63-71
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• 2018

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.821-826
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• 2006

This paper describes a rollover index (RI)-based rollover mitigation control (RMC) system. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using the roll angle, the roll rate, the lateral acceleration and time to wheel lift (TTWL). A differential braking control law based on a 2-D bicycle model has been designed using the direct yaw control (DYC) method. An RMC threshold has been determined from the rollover index. The performance of the RMC scheme and the effectiveness of the proposed rollover index are illustrated using a vehicle simulator.