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프로펠러와 부가추력장치를 갖는 특수선의 모델링/통합제어기 개발
이병결(Byung-Kyul Lee),임종옥(Jong-Ok Lim),임재권(Jae-Kwon Lim),임헌호(Heon-Ho Lim),김종화(Jong-Hwa Kim) 한국마린엔지니어링학회 2003 한국마린엔지니어링학회 학술대회 논문집 Vol.2003 No.-
Dynamic positioning(DP) system maintains its position (fixed location or predetermined track) exclusively by means of CPPs and thrusters. In order for a ship to cope with current situation appropriately. an integrated controller generating control signals for each CPP and thruster is required. The integrated controller including thrust calculation algorithm and thrust allocation algorithm is suggested and realized based on TCP/IP network.
프로펠러와 부가추력장치를 갖는 특수선의 모델링 및 통합제어기 개발
김종화,임재권,이병결,Kim Jong Hwa,Lim Jae Kwon,Lee Byung Kyul 한국마린엔지니어링학회 2005 한국마린엔지니어링학회지 Vol.29 No.2
Dynamic Positioning(DP) system maintains ship's position (fixed location or predetermined track) exclusively by means of CPPs and thrusters. To generate the control input adequate to various situation an integrated controller for CPPs and thrusters is required. The integrated controller is composed of a thrust calculation algorithm and a thrust allocation algorithm. The thrust calculation algorithm generates thrusts in the surge direction and the sway direction from the desired forward and lateral speed and generates a moment about the yaw axis from desired heading angle. The thrust allocation algorithm allocates the generated thrusts and moment to each CPP and thruster. Computer simulations are executed to confirm the effectiveness of the suggested controller.
선박의 항로추종을 위한 펴지 PID 제어기형 오토파이럿 시스템
김종화,하윤수,이병결,Kim, Jong-Hwa,Ha, Yun-Su,Lee, Byung-Kyul 한국마린엔지니어링학회 2006 한국마린엔지니어링학회지 Vol.30 No.6
This paper proposes an autopilot system using a fuzzy PID controller to satisfy performances required for the automatic navigation of ships under various marine circumstances. The existing autopilot system using a PD type controller has difficulties in eliminating a steady-state error and compensating nonlinear characteristics of ships. The autopilot system using the proposed fuzzy PID controller has a self-tuning ability, an ability to compensate nonlinear characteristics, and an ability to turn at constant angular velocity. Therefore. it can naturally make a steady-state error zero, compensate nonlinear dynamic effect of ships, have an adaptability to parameter variation owing to shallow water effect, and have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing.
임종옥(Jong-Ok Lim),임재권(Jae-Kwon Lim),이병결(Byung-Kyul Lee),김종화(Jong-Hwa Kim) 한국마린엔지니어링학회 2003 한국마린엔지니어링학회 학술대회 논문집 Vol.2003 No.-
In order to detect position or velocity of hydraulic cylinder, magnetic resistance methods such as LVDT and hall sensor have been used. However, those methods have many problems under the poor environment. This paper suggests a position detecting method of hydraulic cylinder in offshore environment. Moreover, this paper presents not only a remote detecting method using two sets of optical sensors and optical fibers but explains a signal processing method for a fusion type amplifier.