• 동력기계공학회지
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• 제17권3호
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• pp.89-98
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• 2013

In this paper, the authors consider control system design problem of barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design problem. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. Even though sometimes the thrust systems are installed on it, in general the mooring winch system with the rope is used. It may be difficult to compare the control performances of two types. But, if we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a single type mooring winch system and control system design problem in which accurate position control is needed. Because this result can be extended to the general type mooring system in which a number of winch are installed. At first, a mathematical model of winch is obtained and evaluated to verify the usefulness for control system design by experiment. Also, the disturbance model is extracted from experiment data to evaluate the strength of the uncertainty. Based on this results, the robust control system is designed and control performance is evaluated by simulation.

• 동력기계공학회지
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• 제16권2호
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• pp.66-74
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• 2012

In this paper, the authors propose a new approach to control a barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. However sometimes the thrust systems are installed on it, and in general the rope control by mooring winch system is used. It may be difficult to compare the control performances of two types. If we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a DPS design problem which can be extended to the many application fields. The goal of this paper is twofold. First, the sliding mode controller (SMC) for positioning the our vessel is proposed. Especially, in this paper, a robust stability condition is given based on descriptor system representation. In the result, the sliding mode control law guarantees to keep the vessel in the defined area in the presence of environmental disturbances. And second, the thrust allocation problem is solved by using redistributed pseudo-inverse (RPI) algorithm to determine the thrust force and direction of each individual actuator. The proposed approach has been simulated with a supply vessel model and found work well.

• 한국항해항만학회지
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• 제38권1호
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• pp.29-37
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• 2014

본 논문에서는 무어링윈치시스템 제어를 위한 제어계 설계법에 대해 고찰하고 있다. 특히 무어링윈치의 동적운전이 로우프에 부가하는 급격한 부하변동을 억제함으로써 로우프 피로하중을 감소시키고 선박운동제어에 있어서의 바람직한 제어성능을 달성할 수 있도록 하는 제어기 설계법을 제안하고 있다. 최적제어이론에 기반하여, 평가함수에 주어지는 중량행렬(weighting matrix)에 주파수 특성을 부여함으로써, 고주파 모드가 포함된 제어입력이 불안전한 특성을 여기시키지 않도록 하는 것이 제어기 설계 목표이며, 이것은 곧 로우프에 급격한 부하변동을 발생시키지 않게 되는 결과를 얻게 된다. 설계된 제어기는 저차이면서도 외란에 대한 강인성 뿐 만 아니라 제어성능 또한 보장하는 유용한 기법이며 시뮬레이션 및 실험을 통해 그 유효성을 검증하고 있다.

• 한국항해항만학회지
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• 제34권5호
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• pp.311-317
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• 2010

하역장치가 장착된 모바일하버 선박은 새로운 해상운송시스템 개념으로, 특정 정박지에서 대형 컨테이너 선박에 계류하여 해상상태 3 이하 조건에서 신속하면서 효율적인 컨테이너 하역작업을 수행하는 것이다. 모바일하버와 관련한 주요 연구로는 고속하역시스템, 부유체 구조 설계, 안벽하역시스템 해석 및 작업크레인 설계 등의 원천기술 개발을 중심으로 수행되었다. 본 연구는 모바일하버 선박의 하역작업 중 동적안정성 확보를 위한 계류안정화시스템을 개발하고자 하는 것으로, 국내외 계류장치에 대한 현황 분석을 기초로 현재 선박에 탑재되어 있는 의장장치인 윈치시스템에 계류안정화 기능을 추가시킨 포지셔닝윈치를 개발하여 모선과의 상대운동을 최소화하는 방안에 대한 개념설계를 제안한다.

• 수산해양기술연구
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• 제43권2호
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• pp.140-148
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• 2007

This paper describes on the real-time monitoring of dredging information for grab bucket dredger equipped with winch control sensors and differential global positioning system(DGPS) using electronic chart display and information system(ECDIS). The experiment was carried out at Gwangyang Hang and Gangwon-do Oho-ri on board M/V Kunwoong G-16. ECDIS system monitors consecutively the dredging's position, heading and shooting point of grab bucket in real-time through 3 DGPS attached to the top bridge of the dredger and crane frame. Dredging depth was measured by 2 up/down counter fitted with crane winch of the dredger. The depth and area of dredging in each shooting point of grab bucket are displayed in color band. The efficiency of its operation can be ensured by adjusting the tidal data in real-time and displaying the depth of dredging on the ECDIS monitor. The reliance for verification of dredging operation as well as supervision of dredging process was greatly enhanced by providing three-dimensional map with variation of dredging depth in real time. The results will contribute to establishing the system which can monitor and record the whole dredging operations in real-time as well as verify the result of dredging quantitatively.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2010년도 춘계학술대회
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• pp.219-220
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• 2010

A new concept of ocean transport system, called mobile harbor, was introduced as a feasibility study in Korea in 2009. Target of the mobile harbor is a smart distance transport of containers with or without cargo handling cranes. Although the mobile harbor project has a lot of topics to deal with, this paper is to focus on only ship-to-ship stabilized mooring, which plays a key role in cargo handling. The ship-to-ship stabilized mooring system was developed and installed on beard a barge of LOA 32m and breadth 12m. The dockside tests as sea test were carried out so as to ascertain ascertained whether the systems can work well to control the barge's motion. The results of dockside test showed that the heave motion of the barge's motion can be reduced by more than 45%.

• 한국항해항만학회지
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• 제34권4호
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• pp.281-286
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• 2010

A new concept of ocean transport system, called mobile harbor, was introduced as a feasibility study in Korea in 2009. Target of the mobile harbor is a short distance transport of containers with or without cargo handling cranes. Although the mobile harbor project has a lot of topics to deal with, this paper is to focus on only ship-to-ship stabilized mooring, which plays a key role in cargo handling. The ship-to-ship stabilized mooring system was developed and installed on board a barge of LOA 32m and breadth 12m. The dockside tests as sea test were carried out so as to ascertain whether the systems can work well to control the barge’s motion. The results of dockside test showed that the heave motion of the barge's motion can be reduced by more than 45%.

• 한국해양공학회지
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• 제34권5호
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• pp.361-370
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• 2020

We developed a heavy-duty work class ROV trencher named URI-T (Underwater robot it's trencher) that can conduct burial and maintenance tasks for underwater cables and small diameter pipelines. It requires various supporting systems, including a dynamic positioning (DP) vessel, launch and recovery system (LARS), A-frame, and winch in order to perform burial tasks because of its dimensions (6.5 m × 5.0 m × 4.5 m, 20 t) and the tough working environment. However, operating a DP vessel has disadvantages as it is expensive to rent and operate and it is difficult to adjust the working schedule for some domestic coast construction cases. In this paper, we propose a method using a barge instead of a DP vessel to avoid the above disadvantages. Although burying the cable and pipeline using a barge has lower working efficiency than a DP vessel, it can save construction expenses and does not require a large crew. The proposed method was applied over two months at the construction of the water supply in Yokji-do, and the results were verified.