정수중을 활주하는 고속선의 6자유도 운동 모델링 및 시뮬레이션
Modeling and Simulation of the 6 DOF Motion of a High Speed Planing Hull Running in Calm Sea
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초록
When a planing hull straightly runs and turns, its floating position and pitch angle are changed depending on its speed, and large transient motion happens. In this paper, six degrees of freedom(6 DOF) equations of motion, which could simulate the motion of a planing hull, are established. Static and dynamic forces in vertical plane are modeled using pre-calculated displacements and metacentric heights depending on various draft, lift under bottom, and vertical damping coefficients which are used to tune the final motion. Hydrodynamic coefficients in horizontal plane at various equilibrium state are calculated by using Lewandowski's empirical formula and the speed-dependent equilibrium state are calculated beforehand by Savitsky's formula. The speed effects are considered by curve-fitting the coefficients at various speed to the polynomials. Accelerating, decelerating and backing, turning, and zig-zag are simulated and compared with the sea trial results, and it is confirmed that the speed reduction, roll, and pitch during such maneuvers of sea trial and simulation are well consistent.
Abstract
When a planing hull straightly runs and turns, its floating position and pitch angle are changed depending on its speed, and large transient motion happens. In this paper, six degrees of freedom(6 DOF) equations of motion, which could simulate the motion of a planing hull, are established. Static and dynamic forces in vertical plane are modeled using pre-calculated displacements and metacentric heights depending on various draft, lift under bottom, and vertical damping coefficients which are used to tune the final motion. Hydrodynamic coefficients in horizontal plane at various equilibrium state are calculated by using Lewandowski's empirical formula and the speed-dependent equilibrium state are calculated beforehand by Savitsky's formula. The speed effects are considered by curve-fitting the coefficients at various speed to the polynomials. Accelerating, decelerating and backing, turning, and zig-zag are simulated and compared with the sea trial results, and it is confirmed that the speed reduction, roll, and pitch during such maneuvers of sea trial and simulation are well consistent.
참고문헌 (10)
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- Development of small leisure boat handling 3D simulator, annual report, "Global Control Systems Cooperation", GCSC, ~ (2013)
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- Korea Coat Guard, "Korea Coast Guard 2013White Paper" (2013), Korea Coat Guard
- Lewandowski, E. M., "Transverse Dynamic Stability of Planing Craft", Marine Technology, 34(2), pp.109~118 (1997)
- Lewandowski, E. M., "The Dynamics of Marine Craft" (2004), World Scientific
- Savitsky, D., "Hydrodynamic Design of Planing Hulls", Marine Technology, 1(1), pp.71~95 (1964)
- Yoon, H.K., "Motion analysis of 20 ft semi-planing power boat using sea trial test", 12th 2nd Internaitonal Symposium on Naval Architecture and Maritime, pp.569~578 (2014)
- 윤현규, "해상시험 결과를 이용한 RIB의 4자유도 동력학 식별 (I)- 해상시험, 저항․추진 모델", 대한조선학회 논문집, 48(1), pp.8~14 (2011), 대한조선학회