[보고서]선박의 조종-운동 통합성능 해석 기술 개발

김연규

보고서 정보

주관연구기관

선박해양플랜트연구소
Korea Research Institute of Ships &OCEAN Engineering

연구책임자

김연규

참여연구자

여동진 , 윤근항 , 이경중 , 김동진 , 김광수 , 남보우 , 서민국 , 김유철 , 양경규 , 최후재 , 김진 , 황승현 , 조석규 , 유윤규 , 이영연 , 안해성 , 홍사영 , 박동민 , 권용주 , 송형도 , 오영재 , 유선모 , 김명석 , 공지환 , 이민철 , 조혜정 , 국승기 , 윤현규

보고서유형

최종보고서

발행국가

대한민국

언어

한국어

발행년월

2019-12

과제시작연도

2019

주관부처

해양수산부
Ministry of Oceans and Fisheries

등록번호

TRKO202000005860

과제고유번호

1525009572

사업명

선박해양플랜트연구소운영지원(R&D)(주요사업비)

DB 구축일자

2020-07-29

키워드

조종-운동 통합 성능.시뮬레이션.모형시험.CFD 수치해석.파도 중.Integrated ability of maneuvering and seakeeping.Simulation.Model test.Numenrical analysis by CFD.In waves.

DOI

https://doi.org/10.23000/TRKO202000005860

표 IMO 황천 중 최소추진출력 가이드라인
표 10o/10o Zig-zag maneuver in calm sea and regular waves (Hω=6.0m, λ/L=1.0)
표 Turning circle test and zig-zag test in regular waves (λ/L=2, X=45˚)
표 Fn=0.235, Lw/L=1, H/Lw=1/30, A.=180deg
표 2nd order wave force coefficient : (left)Y-force, (right)N-moment
표 Results of 35˚ turning tests : (left)head sea, (right)beam sea
표 Comparison of turning trajectories in regular waves : S-175 containership, Fn=0.15, Χ=90˚, δ=-35˚, (a)λ/L=0.7, (b)λ/L=1.0, and (c)λ/L=1.2
표 Consideration of body nolinearity
표 Comparison of starboard turning trajectories in regular waves : S-175 containership, Fn=0.15, δ=-35˚, A/L=0.01, (left)λ=90˚, (right)λ=180˚
표 Forces, moment and pitch angle of KCS in regular waves : (left)β=12˚, λ/L=1.5, Hω/λ=1/57.5, x=0˚, (right)β=-9˚, λ/L=1.0, Hω/λ=1/76.7, x=180˚
표 Comparison of 35˚ rudder turning trajectories of S-175 in regular waves (x=90˚)
표 Comparison of test results in calm water and in waves
표 In-phase sway force and yaw moment in calm water and in waves in pure sway test
표 χ0/L after 1,000 seconds simulations with rudder angle
표 Mean forward speed with autopilot coefficient for 23˚/sec rudder rotational velocity
표 Validation of turning simulation in waves, 13knots approach speed
표 Turning trajectory in regular waves
표 Relation between lateral wave drifting force and drifting distance
표 Turning trajectory in regular waves (simplified calculation)
표 Summary chart for maneuvering limitation in regular waves
표 Free-running test conditions
표 Definition of drifting distance HD nd drifting direction μD in turning test
표 Effect of hull drift angle on ship motions in regular head waves
표 Effect of hull drift angle on wave drift forces regular head waves
표 Comparison of motion amplitude in a straight course moving in regular waves (propeller revolution constant)
표 Comparison of –35˚ turning trajectories in regular waves (χ=0˚)
표 Comparison of 35˚ turning trajectories in regular waves (χ=90˚)
표 Speeds and headings obtained during 10-2 zigzag in a regular wave with period T=1.351s and height H=0.12m
표 S-175(SR180) hull : -35˚ port turn maneuver with approach forward speed 12.079 knots in regular waves with wave amplitude ζa=1.75m
표 MARINER hull : 20.9˚ starboard turn maneuver with approach forward speed 15.4 knots in regular waves with wave amplitude ζa=1.5m
표 Details of roll, pitch and heave during turning maneuver, δ =-35˚, λ/L=1.0, heading=beam seas. (a) Trajectory. (b) Details of roll and pitch motions. (c) Details of heave motion
표 Trial version of new towing arrangement
표 AD1, DT1, AD2 and DT2   
표 Comparison of –35˚ & 35˚ turning trajectories in irregular waves
표 Computed vs. measured trajectories of a turning circle of DTC container ship in regular head waves(left) Computed vs. measured trajectories of a turning circle of S-175 container ship in regular head waves(right)
표 Ratio of required to available delivered power according to simplified assessment(SHOPERA) vs. comprehensive assessment
표 Turning trajectories in regular wave(χ=180˚)(Bulk carrier)
표 Comparison of 35˚ turning trajectories in long- and short-crested irregular waves(S-175)
표 Configuration of model test (Park et al., 2015)
표 Configuration of model test (Park et al., 2018)
표 Configuration of model test (upper: MARINTEK, lower: CEHIPAR)
표 Description of the Two Time Scale method ans coupled time matching and data exchange (a) sequential evaluation; (b) parallel evaluation
표 Coupling process of seakeeping and maneuvering
표 Coordinate system
표 Main dimensions of target vessels
표 Comparison between linear (left) and weakly-nonlinear computation (right)
표 Nonlinear mesh for weakly-nonlinear computaion
표 6DOF motion RAOs: KCS, 8knots, 120deg, H=2.3m
표 GM variation of KCS
표 Variation of GM and GM according to wavelength and wave headingm a
표 Determination of stability from Mathieu equation
표 Occurrence of parametric roll in model test
표 Maximum parametric roll angle computed by present method (IRF+weakly nonlinear)
표 Port turning trajectories in regular waves
표 Time histories of turning test: λ/L=0.7
표 Definition of turning test performance in waves
표 Turning test performance parameter
표 Examples of two different time signals of wave elevation
표 Turning trajectories and time histories: starboard, sea state 5, head sea
표 Time histories of wave drift force: starboard, sea state 5, head sea
표 Variation of turning parameter according to sea state
표 Significant wave height and modal period
표 Comparison of turning trajectories: A/L=0.02, head sea
표 Comparison of turning trajectories and time histories: λ/L=0.7, A/L=0.02, head sea
표 Results of starboard turning test: KCS, U =16knot, δ=35degini
표 Results of port turning test: KCS, U =16knot, δ=-35degini
표 Results of 20-20 zig-zag test: KCS, U =16knotini
표 Comparison of turning trajectories: KCS, head sea, H=4.6m
표 Turning test results in regular wave condition: KCS, head sea, λ/L=1.0, H=4.6m
표 Comparison of time histories: KCS, head sea, λ/L=1.0, H=4.6m
표 Frequency domain response of roll motion during one turning
표 Change of wetted surface (red), upper: 800~807sec, lower, 850~865sec
표 Concept of the hydrodynamic calculation in maneuvering problem
표 Time marching in maneuvering problem
표 Concept of the hydrodynamic calculation in sea-keeping problem
표 Time marching in sea-keeping problem
표 2-D Problem setups in seakeeping
표 2-D Problem setups in maneuvering
표 Concept of the time-domain hybrid method
표 Movement of the solution planes
표 Time advance in the solution plane
표 Compatibility in maneuvering and sea-keeping problem
표 Model for 2-D solution plane
표 Movement of the solution planes in view of flow
표 Movement of the solution planes in view of body movement
표 Movement of the solution planes in view of flow interpolation
표 Interpolation plane for the free surface treatment
표 Boundary value problem in 2-D time-domain
표 Types of 2-D body
표 Index of 2-D solution plane
표 Numbering of the segments in 2-D solution plane
표 Forces and moments in case of steady translation(Fn=0.3)
표 Free surface shape in case of steady translation(Fn=0.3)
표 Forces and moments in case of steady translation(Fn=0.3) and heave oscillation(0.05m, 3rad/sec)
표 Free surface shape in case of steady translation(Fn=0.3) and heave oscillation(0.05m, 3rad/sec)
표 Forces and moments in case of steady translation(Fn=0.3) and heave oscillation(0.05m, 12rad/sec)
표 Free surface shape in case of steady translation(Fn=0.3) and heave oscillation(0.05m, 12rad/sec)
표 Forces and moments in case of steady translation(Fn=0.3) and pitch oscillation(3deg, 3rad/sec)
표 Free surface shape in case of steady translation(Fn=0.3) and pitch oscillation(3deg, 3rad/sec)
표 Forces and moments in case of steady translation(Fn=0.3) and pitch oscillation(3deg, 12rad/sec)
표 Free surface shape in case of steady translation(Fn=0.3) and pitch oscillation(3deg, 12rad/sec)
표 Forces and moments in case of steady translation(Fn=0.3) and sway oscillation(0.05m, 3rad/sec)
표 Free surface shape in case of steady translation(Fn=0.3) and sway oscillation(0.05m, 3rad/sec)
표 Forces and moments in case of steady translation(Fn=0.3) and sway oscillation(0.05m, 12rad/sec)
표 Free surface shape in case of steady translation(Fn=0.3) and sway oscillation(0.05m, 12rad/sec)
표 Forces and moments in case of steady translation(Fn=0.3) and steady sway translation(0.3m/s)
표 Free surface shape in case of steady translation(Fn=0.3) and steady sway translation(0.3m/s)
표 Comparisons of calculated hydrodynamic mass coefficients for heave motions and the results of Journee(1992)
표 Comparisons of calculated hydrodynamic damping coefficients for heave motions and the results of Journee(1992)
표 Comparisons of calculated hydrodynamic mass coefficients for pitch motions and the results of Journee(1992)
표 Comparisons of calculated hydrodynamic damping coefficients for pitch motions and the results of Journee(1992)
표 Movement of free vortex
표 Vortex separation point
표 Vortex generation point
표 Definition of the vortex generation point
표 Calculated velocities in the vicinity of boundary
표 Calculated velocities according the distance to the boundary
표 Interpolation layer
표 Calculated and interpolated velocities in the vicinity of boundary
표 Comparisons of the calculated and interpolated velocities in the vicinity of boundary
표 KCS model (Left) and KVLCC2 model(Right)
표 Model ship captivated by captive device Side view (Left), Top view (Right)
표 Model ship captivated by captive device
표 Aft hinge(Left) and Fore hinge(Right)
표 Flow chart of DaQ system
표 Calibration device
표 Calibration result
표 Coordinates system
표 Test condition of 1st captive model test in waves
표 Test condition of 2nd captive model test in waves
표 Test condition of 3rd captive model test in waves
표 Data fitting using high order sinusoidal function
표 Calm sea static test result of KCS
표 Head sea static test result of KCS
표 Beam sea static test result of KCS
표 Calm sea static test result of KVLCC2 (15.5knots)
표 Head sea static test result of KVLCC2 (15.5knots)
표 Beam sea static test result of KVLCC2 (15.5knots)
표 Calm sea static test result of KVLCC2 (6knots)
표 Head sea static test result of KVLCC2 (6knots)
표 Turning test results of KVLCC2 in waves
표 KCS model and measurement system set up
표 Configuration of model test
표 Measurement items
표 Example of time histories for model test
표 Test matrix
표 Operation of CPMC and wave maker during the model test
표 6DOF motion and wave drift force: KCS, 150deg, 8knots
표 Comparison of wave drift force: KCS, 8knots
표 Comparison of wave drift force: KCS, 8knots
표 Coordinate system
표 Test setup at KRISO Ocean Engineering Basin
표 Free-running model tests at KRISO Ocean Engineering Basin
표 Total stations for model ship position/heading tracking
표 Specification of total station
표 Instruments on the model ship
표 Locations of relative wave probes – KVLCC2
표 Estimation procedure of encounter waves with relative wave heights
표 Estimated encounter waves – KVLCC2, head waves, H/L=0.02, λ/L=0.7(top) and 1.0(bottom)
표 Timing of rudder deflection
표 KVLCC2 free-running model ship
표 Main particulars of KVLCC2 full-scale and model ship
표 KCS free-running model ship
표 Main particulars of KCS full-scale and model ship
표 Scenarios of KVLCC2 manoeuvres in calm water & regular waves
표 Scenarios of KCS manoeuvres in calm water & regular waves
표 Scenarios of KVLCC2 manoeuvres in irregular head waves
표 Scenarios of additional KVLCC2 manoeuvres in calm water & regular waves
표 Irregular waves (North Pacific, full-scale)
표 SS6 wave spectrums and time histories depending on wave seeds
표 Spatial distributions of SS6 irregular waves
표 KVLCC2 35° port(left) and starboard(right) turns in regular head waves depending on wave lengths
표 KVLCC2 35° port(left) and starboard(right) turns in regular port beam waves depending on wave lengths
표 KVLCC2 35° port turns in regular head waves depending on wave heights
표 KVLCC2 35° starboard turns in regular waves depending on wave directions
표 Drift of turning trajectory in waves
표 Drifting distances between two points with interval of 360° headings
표 Drifting distances by using tangential lines to turning circles
표 Correlation between Ddr2* and Ddra-b
표 Definition of drifting distance(Ddr) and drifting angle(Adr) of steady turn
표 KVLCC2 drifting distances and angles depending on wave lengths
표 KCS 35° port(left) and starboard(right) turns in regular head waves depending on wave lengths
표 KCS 35° port(left) and starboard(right) turns in regular port beam waves depending on wave lengths
표 KCS 35° starboard turns in regular head(left) and port beam(right) waves depending on wave heights
표 KCS 35° starboard turns in regular head waves depending on initial speeds
표 Dangerous situations with front obstacle in waves
표 Definition of safety index, STw
표 Parametric simulations with ellipsoidal approximation
표 Relation between STw and X090w
표 Relation between STw and Y090w
표 Tuning of coefficient α in STw formula
표 Verification of empirical formula for STw
표 35° starboard turns with 17.5 RPS in SS5(left) and SS6(right)
표 35° starboard turns with 17.5 RPS(left) and 8.2 RPS(right) in SS6
표 35° starboard turns with 8.2 RPS(left) and 5.2 RPS(right) in SS6
표 35° port(left) and starboard(right) turns with 5.2 RPS in SS6
표 Scenarios of 35° initial turns w/ 5.2RPS with variation of wave incident angles
표 35° initial turns w/ 5.2 RPS in SS6 starboard stern quartering waves (μ=60°)
표 35° initial turns w/ 5.2 RPS in SS6 starboard beam waves (μ=90°)
표 35° initial turns w/ 5.2 RPS in SS6 starboard bow quartering waves (μ=120°)
표 35° initial turns w/ 5.2 RPS in SS6 port bow quartering waves (μ=240°)
표 35° initial turns w/ 5.2 RPS in SS6 port beam waves (μ=270°)
표 35° initial turns w/ 5.2 RPS in SS6 port stern quartering waves (μ=300°)
표 35° initial turns w/ 5.2 RPS in SS6 port stern quartering waves (μ=330°)
표 KVLCC2 low speed 35° turning manoeuvres
표 Representative wave heights and periods
표 Periods on wave spectrum
표 Candidates of regular wave heights and periods corresponding to SS6
표 Regular waves conditions corresponding to SS6
표 Turns in irregular(left) & regular(right) waves with variation of wave periods
표 Turns in irregular(left) & regular(right) waves with variation of wave heights
표 선형-프로펠러, 러더를 갖는 계층구조 예
표 Suggar++와 WAVIS를 이용한 정적중첩격자 해석을 위한 추가 모듈 개발
표 동적중첩격자 해석을 위한 libSuggar++의 주요 함수와 그 기능
표 시간경과에 따른 동적중첩격자를 이용한 비정상해석 과정
표 Prescribed motion에 대한 동적중첩격자를 이용한 비정상해석 과정
표 동적중첩격자를 이용한 병렬계산을 위한 MPI통신 그룹 분할
표 동적중첩격자기법을 이용한 SUBOFF 구속모형운동해석 (2016)
표 동적중첩격자기법을 이용한 SUBOFF Sway & Yaw 운동해석 (2016)
표 Overset Grid generation and Computational domain with wigley hull
표 동적중첩격자기법을 이용한 wigley 선형의 강제 yaw운동해석
표 강제 yaw운동하는 wigley선형 주위의 자유수면유동장과 선체표면압력
표 Overset Grid generation and Computational domain with KVLCC2
표 Simumation conditions of SIMMAN Benchmark test case (KVLCC2)
표 동적중첩격자기법을 이용한 KVLCC2 선형의 Pure Sway 시뮬레이션
표 동적중첩격자기법을 이용한 KVLCC2 선형의 Pure Yaw (yaw+sway)
표 Comparison of force & moment in case of Pure Sway motion
표 Comparison of force & moment in case of Pure Yaw motion
표 Flow chart of flow analysis using Suggar++
표 Overset grid system of KVLCC2
표 Three grid systems for inner grid block
표 Comparison of C and pitch angle of three grid systemsT
표 Principal dimension of KVLCC2
표 Applied wave conditions
표 Computational domain (background grid)
표 Transversal and vertical cross sections of overset grid
표 Heave motion RAO
표 Pitch motion RAO
표 Comparison of added resistance coefficients
표 Comparison of CX, CY, and CN in calm sea condition
표 CX in waves for drift angle = 0 and 6 degree
표 Added resistance in waves for drift angle = 0 and 6 degree
표 CX, CY, CN comparison at wave length = 0.5Lpp
표 CX, CY, CN comparison at wave length = 0.7Lpp
표 CX, CY, CN comparison at wave length = 1.0Lpp
표 CX, CY, CN comparison at wave length = 1.2Lpp
표 Wave elevation obtained at (FP, 0.75Lpp)
표 Grid system of KVLCC2
표 Comparison of CX, CY, CN, CN/CY (KVLCC2)
표 Turn table condition
표 Oblique condition
표 Turn table cond. in CFD
표 Oblique cond. in CFD
표 Comparison of CX, CY, CN between turn table condition and oblique condition
표 Coordinate systems for wave-drift calculations
표 Hull block – deck, hull surface, transom blocks
표 Background block and hull block
표 6DoF translational motions
표 6DoF rotational motions
표 Main particulars of KVLCC2 for wave drift tests
표 Comparison of roll natural period from free roll decay tests
표 Time history of free roll decay tests
표 Wave contour, pressure distribution, and time history of force/moment and motion, λ/L=0.5, β=120°
표 Wave contour, pressure distribution, and time history of force/moment and motion, λ/L=1.1, β=120°
표 Wave contour, pressure distribution, and time history of force/moment and motion, λ/L=0.5, β=60°
표 Wave contour, pressure distribution, and time history of force/moment and motion, λ/L=1.1, β=60°
표 Transfer functions of 6DoF ship motion amplitude, β=150°
표 Transfer functions of 6DoF ship motion amplitude, β=120°
표 Transfer functions of 6DoF ship motion amplitude, β=90°
표 Transfer functions of 6DoF ship motion amplitude, β=60°
표 Transfer functions of 6DoF ship motion amplitude, β=30°
표 Transfer functions of 6DoF ship motion amplitude, β=0°
표 Transfer functions of wave drift force and moment, β=150° (left) and β=120°(right)
표 Transfer functions of wave drift force and moment, β=90° (left) and β=60°(right)
표 Transfer functions of wave drift force and moment, β=30° (left) and β=0°(right)
표 Transfer functions of wave drift force and moment, β=150° (left) and β=120°(right)
표 Flow chart for calculating body force distribution from propeller
표 Flow chart for self-propulsion test
표 POW of MARIN 5533 propeller
표 POW of MARIN 5533 propeller
표 Time histories of yaw and rudder angle for zig-zag test
표 Time histories of motion and velocity for 10°-10° zig-zag test
표 Time histories of motion and velocity for 20°-20° zig-zag test
표 Comparison of turning circle
표 Time histories of translational velocity and rotational velocity for turning test
표 실선의 조종-운동 통합성능 추정 기초기술 개념도
표 Overview of the software for manoeuvring booklet
표 Main menu of the software for manoeuvring booklet
표 Automated process for manoeuvring booklet by the software
표 File format for the software and the simulation program
표 Main functions of the software for manoeuvring booklet
표 GUI of the software for manoeuvring booklet
표 Menu window of the software for manoeuvring booklet
표 Simulation window of the software for manoeuvring booklet
표 Installation of the software for manoeuvring booklet
표 Graphical view of the software frame
표 Simulation item and file name
표 Concept of integratged ship manoeuvring data management solution
표 Traning ship, ‘Hanbada’
표 Main dimensions of Hanbada training ship

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선박의 조종-운동 통합성능 해석 기술 개발
Development of the Analysis Technology of Ship’s Integrated Ability of Maneuvering and Seakeeping 원문보기

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선박의 조종-운동 통합성능 해석 기술 개발 Development of the Analysis Technology of Ship’s Integrated Ability of Maneuvering and Seakeeping 원문보기

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선박의 조종-운동 통합성능 해석 기술 개발
Development of the Analysis Technology of Ship’s Integrated Ability of Maneuvering and Seakeeping 원문보기

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