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A path tracking control algorithm for underwater mining vehicles
홍섭,최종수,김형우,원문철,신승철,Joon-Seong Rhee,박효은 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.8
In this paper, a path tracking control algorithm is formulated for the use of tracked underwater mining vehicles. The algorithm consists of two parts, the forward velocity control and the heading angle control. The control algorithm is designed based on kinematics, and it considers the track slips and the longitudinal and yaw dynamic models of the tracked vehicle including the soil–track interaction force model. The desired heading angle is obtained by the so-called “Line of Sight” method. The suggested algorithm is tested by numerical simulations using the TRACSIM software developed by MOERO/KORDI, Korea. After the control gains are tuned by a series of numerical simulations, the algorithm is verified on a scale vehicle on air on a soil bin test bed containing the cohesive soil of the Bentonite-water mixture.
홍섭,김형우,Hong, Sup,Kim, Hyung-Woo 한국해양학회 2008 바다 Vol.13 No.3
We developed a computational method on coupled dynamics of tracked vehicle on seafloor and long flexible pipe. The tracked vehicle is modeled as rigid-body vehicle, and the linked flexible pipe is discretized according to a lumped-parameter model. The equations of motion of the rigid-body vehicle on the soft seafloor are combined with the governing equations of flexible pipe dynamics. Four Euler parameters method is used to express the orientations of the vehicle and the flexible pipe. In order to solve the nonlinear coupled dynamics of vehicle and flexible pipe an incremental-iterative formulation is implemented. For the time-domain integration $Newmark-\beta$ method is adopted. The total Jacobean matrix has been derived based on the incremental-iterative formulation. The interactions between the dynamics of flexible pipe and the mobility of the tracked vehicle on soft seafloor are investigated through numerical simulations in time domain. 우리는 해저 연약지반 주행차량과 주행차량의 상부에 결합되어 있는 유연관의 연성거동 동력학 해석 기법을 개발하였다. 연약지반 주행차량은 1개의 강체로 모델링되었으며, 질량집중매개변수 기법을 이용한 이산화기법을 적용하여 유연관을 모델링하였다. 강체 무한궤도 주행차량의 운동방정식과 유연관의 3차원 비선형 지배방정식을 결합시켰으며, 4개의 오일러 매개변수를 이용하여 주행차량과 유연관의 자세를 표현하였다. 주행차량과 유연관의 비선형 연성거동 동력학 방정식의 해를 구하기 위해, 증분-반복법을 이용하였다. 시간영역 수치적분을 위해 $Newmark-\beta$기법을 이용하였다. 증분-반복법을 적용하여 연성 운동방정식에 대한 자코비안 행렬을 유도하였다. 동적거동 동력학 해석 기법을 통해 유연관의 동적거동과 연약지반 위를 주행하는 무한궤도 차량의 동적거동 사이의 상호작용을 시간영역에서의 관찰하였다.
홍섭(Sup Hong),최종수(Jong-Su Choi),김형우(Hyung-Woo Kim),여태경(Tae-Kyeong Yeu),신승호(Seung-Ho Shin) 한국항해항만학회 2008 한국항해항만학회 학술대회논문집 Vol.2008 No.추계
라이저, 텐던, 계류 등과 같은 해양 세장형 구조물(이하 세장체)의 와유기진동(VIV, Vortex Induced Vibration, 이하 VIV)에 의한 응답 해석기술 개발분야에서, 와유기진동에 의해 세장체에 가해지는 하중을 실험으로 계측하여, 다양한 조건에 대한 하중계수(CL, Cd)의 데이터베이스 구축을 위한 "수중세장체 VIV 하중계수 모형실험"을 계획하였다. 본 논문은 이러한 모형실험의 계획과 실험장치 개발에 대한 것이다. 세장체의 직경, 세장체에 대한 상대유속, 진행방향의 수직방향 가진 진동수와 진폭을 실험변수로 선정하였다. 레이놀즈수와 감소속도의 무차원수, 실험장치 및 주변장치의 고유진동수, 진폭비, 동력제한 등을 고려하여 실험변수의 범위를 결정하였다. 수조의 전차를 이용하여 세장체의 상대유속을 발생시켰으며, 스카치-요크 기구를 이용하여 진행 수직방향의 강제 병진왕복운동을 가능하게 하였다. 이러한 상대유속과 수직방향 강제운동에 의해 발생되는 VIV 외력과 강제운동간의 위상차를 광섬유 브래그 격자 로드셀을 이용하여 계측하였다. In order to construct data base of load coefficients, such as VIV drag coefficient and VIV lift coefficient, by measuring the vortex induced loads to marine slender structure, such as the riser, tendon and mooring, an experiment plan and experiment device were designed. The loads for VIV should be considered importantly in designing marine slender structure in the view points of fatigue strength. The outer diameter, relative speed and CF (Cross-Flow) direction frequency-amplitude of the marine slender structure model were chosen as experiment variables. Re (Reynolds number), VR (reduced velocity), natural frequency of experiment device and facilities, amplitude ratio and allowable power supply were considered as experiment conditions or constraints. The relative speed in the direction of IL (In-Line) would be realized by linear translational motion of carriage in basin. Excitation motion in the direction of CF would be performed by a experiment device which adopted Scotch-Yoke mechanism. The loads and phase lag to slender body model in the directions of IL and CF would be measured in two-axis FBG (Fiber Bragg Grating) load cell.
홍섭(Sup Hong),김형우(Hyung-Woo Kim),조윤성(Yun-Sung Cho),조희제(Hui-Je Cho),정지현(Ji-Hyun Jung),배대성(Dae-Sung Bae) 한국해양공학회 2011 韓國海洋工學會誌 Vol.25 No.6
A realtime simulator using an explicit integration method is introduced to improve the solving performance for the dynamic analysis of a wheeled vehicle. Because a full vehicle system has many parts, the development of a numerical technique for multiple d.o.f and ground contacts has been required to achieve a realtime dynamics analysis. This study proposes an efficient realtime solving technique that considers the wheeled vehicle dynamics behavior with full degrees of freedom and wheel contact with soft ground such as sand or undersea ground. A combat vehicle was developed to verify this method, and its dynamics results are compared with commercial programs using implicit integration methods. The combat vehicle consists if a chassis, double wishbone type front and rear suspension, and drive train. Same cases of vehicle dynamics analysis are carried out to verify the realtime ratio.
A Three-Dimensional Dynamic Analysis of Towed Systems Part 1. A Mathematical Formulation
Sub Hong(홍섭),Seuk-Won Hong(홍석원) 한국해양공학회 1994 韓國海洋工學會誌 Vol.8 No.1
수중 예인시스템의 동적 거동 해석을 위한 3차원 비선형 수학모델이 제시되었다. 수중 예인체는 세장보로 이상화되었으며, 보요소의 굽힘강성 및 비틈강성의 영향이 수학모델에 포함되었다. 축류가 지배적인 비정상 상대유동장내의 세장예인체의 횡방향 운동에 따른 유체동역학적 반력과 기진력에 관한 비선형 3차원 수학 정식화가 수행되었다.
지상범,홍섭 한국해양과학기술원 2014 Ocean and Polar Research Vol.36 No.4
In early 1990s, the Korean government has launched a deep-sea research program to secure the stable long-term supply of strategic metallic minerals including Cr, Cu and Ni. Through the pioneering surveys, Korea registered 150,000 km2 of Mn-nodule field in the Clarion-Clipperton area, the NE equatorial Pacific to the international sea-bed authority (ISA) in 1994. Following the ISA exploration code, the final exclusive exploration area of 75,000 km2 was assigned in 2002, based on results of eight-year researches of chemico-physical properties of nodules, bottom profiles and sediment properties. Since that time, environmental studies, mining technical developments including robot miner and lifting system andestablishment of smelting systems were accompanied with the detailed geophysical studies to decipher thepriori mining area until 2009. Major points of the recent Korea Mn-nodule program are deployed on a commercial scale until 2015. In order to meet the goals, we developed a 1/5 scaled robot miner compared to commercial one in 2012 and performed a mining test at the water depth of 1,370 m in 2013. In addition,detailed 25,000 scaled mining maps in the priori area, which can provide operation roots of the miner, will be prepared and an environmental-friendly mining strategy will be pursued based on the environmentalimpact test and environmental monitoring.
직교배열표 실험계획법에 의한 심해 연약지반용 무한궤도차량의 견인성능에 대한 실험적 연구
최종수,홍섭,이태희,김형우 한국해양과학기술원 2004 Ocean and Polar Research Vol.26 No.2
This paper is concerned with an experimental investigation about tractive performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of 0.9 m(L) × 0.75 m(B) × 0.4 m(H) and the weight of 167 kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks are configured with detachable grousers with variable span. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of 6.0 m(L) × 3.7 m(B) × 0.7 m(H). Slip of vehicle and driving torque of motor were measured with respect to experimental variables; grouser span, grouser chevron angle, driving speed, drawbar-pull weight, position of center-of-gravity and weight. L8 orthogonal array is adopted for DOE (Design Of Experiment). The effects of experiment variables on traction performance are evaluated.