선박의 이/접안 데이터 분석을 통한 자동 이/접안 시 횡방향속도 참조모형 개발에 관한 연구

• Published in: 大韓造船學會 論文集 Vol. 58; no. 6; pp. 358 - 365
• Main Authors: 김정현(Jung-Hyeon Kim), 조현재(Hyun-Jae Jo), 김수림(Su-Rim Kim), 이준호(Jun-Ho Lee), 박종용(Jong-Yong Park)
• Format: Journal Article
• Language: Korean
• Published: 대한조선학회 2021
• Subjects: 조선공학; Crabbing motion(횡이동); Berthing/unberthing(이/접안); Constraint(제약조건); Research vessel NARA(해양탐사선 나라호); Reference model(참조 모형); Sway velocity(횡방향속도); /
• ISSN: 1225-1143; 2287-7355
• DOI: 10.3744/SNAK.2021.58.6.358

Crabbing motion is a pure sway motion with only sway velocity. The ship's crabbing motion is essential for an ideal berthing/unberthing process. The unberthing situation proceeds in sequential order such as crabbing motion section, pivoting section, and outer port section. For the berthing situation, the sequence has a reverse order: the inner port section, pivoting section, and crabbing motion section. In this paper, the berthing/unberthing data of the reference ship, Pukyong National University research ship "NARA", was analyzed to develop a sway velocity reference model. Several constraints were defined to derive the crabbing motion section during berthing/unberthing. The sway velocity reference model for the auto-berthing/unberthing was developed using the estimated sway velocity. A reproduction simulation of the ship was performed to compare the designed reference model and the reference ship data.