• Journal of the Korean Society for Marine Environment & Energy
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• v.3 no.1
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• pp.70-75
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• 2000

It is important that effective and rapid response should be taken in the initial stage of the tanker accidents. A towing simulation system is essential to train in-site salvors for tile effective response in the tanker accidents. Training this system will help the marine environment to be protected from the oil pollution which could be proceed further by the secondary accidents. It this study, the towing simulation system using the TIS(Towing vessel Information System) was established, and ground reaction force was calculated using the simplified methods. This system will be useful for evaluation of towing procedures of oil tankers in stranding.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.462-469
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• 2019

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels, such as barge ships, are used for several purposes. Generally, these vessels have no power propulsion system and are towed using ropes and towing vessel (tugboats). The basic mathematical model of the towed vessel in which three active rudders are attached was introduced from a previous study. Owing to the dependency of the motions of the towed vessel to the towing ship, a method is suggested to cope with the undesirable disturbance and improve the tracking performance. For the simulation study, a model of the towed vessel with a towing ship is made, and necessary physical parameters are identified from the experiment. For the defined and linearized model, a control system is designed, and the control performance is also evaluated. A simulation study is conducted and the effectiveness of the proposed control strategy is verified.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.57 no.1
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• pp.1-9
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• 2021

Trawl fishing is a fishing method in which a large, motorized trawler tows a bag-shaped net to catch fish living at the bottom or middle layers. For a trawl gear, it is of utmost importance to select the gear size and towing speed suitable for the effective horsepower (EHP) of the trawler in the design stage. In general, the power required to move an object is proportional to the product of the object speed and resistance; therefore, there are various choices for the gear resistance and towing speed given the effective horsepower of the trawler. However, there have been few studies on the gear design of an appropriate scale for the towing speed given the effective horsepower of the trawler. In this study, the resistance and shape of three types of midwater trawl gears were analyzed using SimuTrawl, a computer simulation tool. In addition, the relationship between the propulsion force and speed of the ship was clarified when the size and effective horsepower of the trawler were determined. Finally, we suggested the relationship between the towing speed and the resistance of the gear when the trawler towed the net was investigated, and a specific method of selecting the gear size according to the towing speed.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.50 no.2
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• pp.176-184
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• 2014

Nowadays, consumption of fisheries products is increasing. There are several factors, one of which is a quantitative development through aquaculture. Another factor is an increase qualitative consumption of fish which require that fish be supplied alive. This requires a lot of technical effort to transport the live fish that have low survival rate (c.f. tuna and mackerel) in coastal waters and in the open sea. To develop a towing cage for transporting the live fish, model test in a circulate water channel and simulation by computer tool were carried out. In order to spread vertically, floats were attached at the upper part of the cage, and iron chains attached at the lower part of the cage. For horizontal spreading, kites were attached on the cage. The tension and spreading performance of the cage were measured. The result shows that the tension and reduction ratio of inside volume of the cage were tended to increase with increased towing speeds. The suitable operation condition in towing cage was 1.0 m/s towing speeds with vertical spreading force 8.7 kN, horizontal spreading force 5.6 kN; in this case the reduction ratio of inside volume of the cage was estimated as 25%.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.943-956
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• 2020

In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is considered. The non-powered towed ship is dragged by the towing ship. Even though the towed ship is equipped with propulsion systems, they cannot be used at low or constant speeds due to safety issues. In narrow canals, rivers, and busy harbor areas especially, where extreme tension is required during towing operation, the course stability of the towed vessel depends on the towing ship. Therefore, the authors propose a new control strategy in which the rudder system of the towed vessel is activated to provide its maneuverability. Based on the leader-follower system configuration, a nonlinear mathematical model is derived and a back-stepping control is designed. By simulation and experiment results with a comparison study, the usefulness and effectiveness of the proposed strategy are validated.

• Journal of Drive and Control
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• v.13 no.4
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• pp.23-30
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• 2016

This paper presents a control-oriented dynamical model of a towing rope system with variable-length. In this system, a winch driven by a motor's torque uses the towing rope to pull a cart. In general, it is a difficult and complicated process to obtain an accurate mathematical model for this system. In particular, if the rope length is varied by operating the winch, the varying rope dynamics needs to be considered, and the key physical parameters need to be re-identified... However, real time parameter identification requires long computation time for the control scheme, and hence undesirable control performance. Therefore, in this article, the rope is modeled as a straight massless segment, with the mass of rope being considered partly with that of the cart, and partly as halfway to the winch. In addition, the changing spring constant and damping constant of the towing rope are accounted for as part of the dynamics of the winch. Finally, a reduced-order observer-based servomechanism controller is designed for the system, and the performance is evaluated by computer simulation.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.637-642
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• 2013

In this paper, an analysis results of towing force and towing points which are dominating factors to determine the behavior of towed ship are introduced. The towing force and towing points to achive the desired posture and its position of the towed vessel are derived based on simplified dynamics and linearization method. LQR algorithm for posture control is applied to linearized system and numerical simulation is also executed. Force based on COG(cneter of gravity) and gain of controller to achieve desired posture for target vessel are obtained by using Riccati matrix equation and pseudo inverse matrix is applied to analyze the relation between the derived force and its towing point. Based on this analysis method, towing force need to move the towed vessel from its initial position to target position can be calculated. The towing method including towing point and direction is also considered on this method. Finally, the relation between towing force and towing point is confirmed from the analysis and the results can be applied to arrangement of tug boats during salvage works.

• Journal of Power System Engineering
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• v.20 no.2
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• pp.58-65
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• 2016

Lately, tugboats are widely used to maneuver vessels by pushing or towing them where tugboats use rope. In order to correctly control the motion of tugboat and towed vessel, the dynamics of the towline would be well identified. In real application environment, the towing rope length changes and the towing load is not constant due to the various sizes of towed vessel. And there are many ropes made by many types of materials. It means that it is not easy to obtain rope dynamics, such that it is too difficult to satisfy the given control purpose by designing control system. Thus real time identification or adaptive control system design method may be a solution. However it is necessary to secure sufficient information about rope dynamics to obtain desirable control performance. In this paper, the authors try to have several rope dynamic models by changing the rope length to consider real application conditions. Among them, a representative model is selected and the others are considered as uncertain models which are considered in control system design. The authors design a robust control to cope with strong uncertain and nonlinear property included in the real plant. The designed control system based on robust control framework is evaluated by simulation.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.211-221
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• 2011

Tugboats are widely used near harbors to assist with various operations such as the berthing and deberthing of very large vessels and the towing of barges. Capsizing accidents involving tugboats occasionally take place when the tugboat makes rapid turns in harsh weather conditions. When there is little evidence suggesting how the accident occurred and when the crew members are missing, it is necessary to predict the time history of the towing vessel’s attitude and trajectory from its departure point to when and where it capsized, depending on various input parameters using a numerical simulation. In this paper, the dynamics of a tugboat and a towed barge in conjunction with the external force and moment were established, and the possible input parameters and operational scenarios which might influence the large roll motion of the tugboat were identified. As a result of analyzing the simulated time history of the excessive roll motion of the tugboat, it was found that roll motion can take place when the tugboat is situated on the crest of a wave and when it is pulled by a towed barge through a towing line. The main cause of the accident would be the parameters that primarily influence such situations. These are the wave parameters, course changing scenario, and the amount of tension.

• Journal of Navigation and Port Research
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• v.36 no.9
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• pp.707-714
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• 2012

Recently, tug boats are widely used for towing a barge which transports building materials, a large block of a ship, offshore crane, and so on. In order to simulate the dynamics of the coupled towing system correctly, the dynamics of the towline should be well modeled. In this paper, the towline was modeled as the multiple finite elements, and each element was assumed as a rigid cylinder which moves in five degrees of freedom except roll. The external tension and its moment acting on each element of the towline were modeled depending on the position vector's direction. Tugboat's motion was simulated in six degrees of freedom where wave and current effects were included, and towed barge was assumed to move in the horizontal plane only. In order to confirm the mathematical models of the coupled towing systems, standard maneuvering trials such as course changing maneuver, turning circle test and zig-zag test were simulated. In addition, the same trials were simulated when the external disturbances like wave and current exist. As the result, it is supposed that the results might be qualitatively reasonable.