• 한국해양환경ㆍ에너지학회지
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• 제3권1호
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• pp.70-75
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• 2000

유조선의 해난 사고시 초기단계에서의 신속하고 효율적인 대응은 매우 중요하다 예인 시뮬레이션 시스템은 현장작업자가 사고 현장에서 효과적인 대응을 할 수 있도록 훈련하기 위한 필수적인 시스템이다. 이러한 시스템을 숙련함으로써, 2차사고를 예방하여 해양환경을 보호할 수 있다. 본 연구에서는 유조선의 좌초시, 사고해역으로의 예인선의 동원, 배치를 위한 TIS(예인선 정보시스템)의 개발 및 해저 지질을 고려한 지반 반력의 계산 등을 토대로 예인시뮬레이션시스템을 개발하였다.

• 한국해양공학회지
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• 제33권5호
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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.

• 수산해양기술연구
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• 제57권1호
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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.

• 수산해양기술연구
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• 제50권2호
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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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• 제12권1호
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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.

• 드라이브 ㆍ 컨트롤
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• 제13권4호
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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.

• 해양환경안전학회지
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• 제19권6호
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• pp.637-642
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• 2013

본 연구는 피예인선의 거동을 결정짓는 예인선의 힘과 작용지점의 해석에 대해 언급하고 있다. 예인대상선박의 간략화된 동역학방정식을 바탕으로 선형화기법을 적용하여 목적으로 하는 피예인선의 자세와 위치를 달성하기 위한 예인력과 예인력이 가해져야 하는 지점을 도출하였다. 이를 위해 LQR제어기법을 적용하였으며, 수치적인 시뮬레이션을 수행하였다. 리카치방정식을 이용하여 피예인선의 자세제어를 위한 제어기 이득과 자세제어에 필요한 무게중심에서의 힘을 도출하였고, 도출한 힘과 예인지점의 역학적인 관계는 의사역행렬을 이용하여 구하였다. 이러한 해석기법을 바탕으로 피예인선을 초기위치로부터 목표위치로 예인할 때 예인지점 및 예인방식에 따른 예인력을 구할 수 있었다. 최종적으로 선박을 예인하기 위한 예인력은 예인지점과 방향에 밀접하게 연관되어 있는 것을 확인할 수 있었고 이러한 연구결과는 사고선박의 구난작업 시 예인선의 배치에도 적용이 가능할 것이다.

• 동력기계공학회지
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• 제20권2호
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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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• 제1권4호
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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.

• 한국항해항만학회지
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• 제36권9호
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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.