DOI QR코드

DOI QR Code

수중용 TAS윈치 전개/회수 성능 안정화 방안에 관한 연구

A Study on Stabilization of Underwater TAS Winch System Deploy/Recover Operation Performance

  • 투고 : 2019.04.10
  • 심사 : 2019.06.07
  • 발행 : 2019.06.30

초록

본 논문은 수중용 TAS윈치 전개/회수 성능 안정화 방안에 대한 내용을 서술하고 있다. TAS윈치는 함미에 장착되어 자함과 이격되어 운용되는 센서, 예인케이블 및 꼬리로프의 전개/회수 기능을 수행하고, TAS에 대한 전원공급 경로, 수중환경 정보 및 수신된 음향신호 송/수신을 위한 데이터 전송 경로 제공 역할을 수행한다. TAS윈치 시험평가 과정에서 간헐적으로 TAS 전개 중 멈춤현상 및 회전속도 변동현상이 식별되었다. TAS 전개/회수에 필요한 토크를 제공하는 구성요소인 윈치모터에 대한 고장분석 결과, 구성품 중 회전자의 정렬 틀어짐으로 인한 편심현상에 따른 자기장 왜곡이 발생한 것을 확인하였다. 자기장 왜곡 발생 방지를 위해 윈치모터 회전자 및 슬립링 등 윈치모터 구성품의 고정성 향상 방안을 제안하였다. 제안된 방안에 대한 신뢰성 확보를 위해 LBTS 환경에서 TAS윈치 운용환경을 모사하여 TAS윈치 전개/회수 성능을 검증하였다. 최종적으로 TAS윈치 전개/회수 성능 뿐만 아니라 해상에서 TAS윈치를 운용할 경우 요구되는 함 속력 및 타각별 TAS 지속 운용능력과 같은 여러 가지 항목에 대한 해상 시험평가를 수행함으로써 설계 요구조건 만족 및 제안 방안에 대한 타당성을 검증하였다.

This paper describes the stabilization of underwater TAS winch system Deploy/Recover operation performance. TAS winch installed on the stern of submarine performs to deploy/recover sensor, towing cable and rope tail which is deployed from the stern and separated from submarine itself. Also TAS winch provides transmission path of power to the sensor and data transmitting/receiving path which data are acquired from underwater environment like sound, depth and temperature. At the step of TAS winch evaluation test, sporadic standstill and rotating speed oscillation phenomenon were occurred. Winch motor provides the available torque to deploy/recover TAS and root cause analysis to the winch motor was done to find exact reason to sporadic malfunction. When winch motor was disassembled, eccentricity of rotor, slip-ring and the other composition part for winch motor were found. These might cause magnetic field distortion. To make TAS winch system more stable and block magnetic field distortion, this paper suggests methods to enhance fixing status installed in winch motor. For reliable data acquisition for TAS winch operation, the deploy/recover function of the improved type of TAS winch was verified in LBTS making similar condition with sea status. At the end of stage, improved type of TAS winch was tested on some functions not only deploy/recover function, but sustainability of TAS operation on specific velocity, steering angle of submarine in the sea trial. Improved type of TAS winch was verified in accordance with design requirement. Also, validity of suggested methods were verified by the sea trial.

키워드

SHGSCZ_2019_v20n6_472_f0001.png 이미지

Fig. 1. Operational concept of TAS system

SHGSCZ_2019_v20n6_472_f0002.png 이미지

Fig. 2. Composition of TAS winch for outer part

SHGSCZ_2019_v20n6_472_f0003.png 이미지

Fig. 3. Interface of TAS winch for inner & outer parts

SHGSCZ_2019_v20n6_472_f0004.png 이미지

Fig. 4. Disassemble of stern casing of submarine

SHGSCZ_2019_v20n6_472_f0005.png 이미지

Fig. 5. The position and structure of winch motor

SHGSCZ_2019_v20n6_472_f0006.png 이미지

Fig. 6. Measuring back-EMF for winch motor

SHGSCZ_2019_v20n6_472_f0007.png 이미지

Fig. 7. Winch motor rotor/stator alignment check circuit

SHGSCZ_2019_v20n6_472_f0008.png 이미지

Fig. 8. The movement of washer installed in winch motor

SHGSCZ_2019_v20n6_472_f0009.png 이미지

Fig. 9. Structure of PMSM

SHGSCZ_2019_v20n6_472_f0010.png 이미지

Fig. 10. Dowel pin installation to prevent movement of rotor

SHGSCZ_2019_v20n6_472_f0011.png 이미지

Fig. 11. Installation position & number of dowel pin

SHGSCZ_2019_v20n6_472_f0012.png 이미지

Fig. 12. Installation position of fitting piece

SHGSCZ_2019_v20n6_472_f0013.png 이미지

Fig. 13. Cross-sectional diagram of resolver

SHGSCZ_2019_v20n6_472_f0014.png 이미지

Fig. 14. The result of FEM Analysis

SHGSCZ_2019_v20n6_472_f0015.png 이미지

Fig. 15. LBTS test environment for verifying winch motor speed control & deploy/recover function

SHGSCZ_2019_v20n6_472_f0016.png 이미지

Fig. 16. Result of winch motor deploy/recover function test

SHGSCZ_2019_v20n6_472_f0017.png 이미지

Fig. 17. Scenario for checking maneuverability(I)

SHGSCZ_2019_v20n6_472_f0018.png 이미지

Fig. 18. Sonar stave status obtained from TAS

SHGSCZ_2019_v20n6_472_f0019.png 이미지

Fig. 19. Environment data status obtained from TAS

SHGSCZ_2019_v20n6_472_f0020.png 이미지

Fig. 20. Scenario for checking maneuverability(II)

Table 1. Function of TAS winch for outboard equipment

SHGSCZ_2019_v20n6_472_t0001.png 이미지

Table 2. Causes of TAS winch malfunction

SHGSCZ_2019_v20n6_472_t0002.png 이미지

Table 3. Result of RCA(Root Cause Analysis)

SHGSCZ_2019_v20n6_472_t0003.png 이미지

Table 4. Measuring C/A on deploy/recover function test

SHGSCZ_2019_v20n6_472_t0004.png 이미지

Table 5. Sea trial evaluation result of TAS winc

SHGSCZ_2019_v20n6_472_t0005.png 이미지

참고문헌

  1. H. M. Lee, "Disturbance Observer Based Speed Controller for PMSM under Uncertain Time-varying Load", Master Thesis, Gwang-un University, Dec. 2011.
  2. D. H. Lee and Y. B. Choo, "Speed Control of PMSM using DTC-PWM Approach", Journal of the Korean Institute of Power Electronics, Vol. 14, No. 4, pp 268-269, 2009. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01229568
  3. E. Y. Kim, S. M. Lee, G. P. Kwak, M. C. Kim, S. K. Park and B. J. Ko, "Design of Sliding Mode Controller for AC Servo Motor of Circular Interpolation Error Improvement", Journal of the Korean Institute of Information and Communication Engineering, Vol. 8, No. 8, pp 1685-1686, 2004. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02253862
  4. Pragasen Pillay and Ramu Krishnan, "Application Characteristics of Permanent Magnetic Synchronous and Brushless dc Motor for Servo Drives", IEEE Transactions on Industry Applications, Vol. 27, No. 5, pp 986-988, 1991. DOI: http://doi.org/10.1109/28.90357
  5. M. Depenbrock, "Direct Self-control of Inverter-fed Machine", IEEE Trans. Power Electron, Vol. 3, pp 420-429, 1988. DOI: http://doi.org/10.1109/63.17963
  6. J. H. Kong, K. H. Park, W. C. Kwon and J. Y. Yoon, "Study for Performance Evaluations of the AC Servo Motor Made in Korea", Journal of the Korean Society of Machine Tool Engineers, Vol. 16, No. 1, pp 19-25, 2007. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00926193
  7. Martin Blodt, Pierre Granjon, Bertrand Raison and Jeremi Regnier, Mechanical Fault Detection in Induction Motor Drives through Stator Current Monitoring - Theory and Application Examples, p.452-457, In tech, 2010.
  8. Y. S. Choi, J. M. Kim and H. K. Chung, "Effect of Friction and Eccentricity on Rubbing Phenomenon", Journal of the Korean Society of Noise and Vibration Engineering, Vol. 6, No. 6, pp 819-820, 1996. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02402533
  9. D. Y. Kim, M. K. Kim and M. K. Noh, "Modeling of Air-Gap Magnetic Field Distribution in Permanent-Magnet Synchronous Motors with Rotor Eccentricity", The Korean Society of Mechanical Engineers Spring Conference, pp 2993-2995, 2013. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02366098
  10. C. W. Lee, "Analysis of Radial Force on a Permanent Magnet Synchronous Motor Caused by Dimensional Variation", The Transactions of the Korean Institute of Electrical Engineers, Vol. 59, No. 11, pp 1990-1995, 2010. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01546714 https://doi.org/10.5370/KIEE.2010.59.11.1990
  11. J. C. Park, S. H. Park, G. S. Kim, J. M. Kim and J. P. Hong, "Analysis of Back EMF and Cogging Torque in PMSM Considering the Effects of Static Eccentricity", The Korean Institute of Electrical Engineers Summer Conference, pp 721-722, 2016. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE07011542
  12. H. M. Kim, Y. J. Kim and S. Y. Jung, "Characteristic Analysis According to SPMSM Stator Design", The Korean Institute of Electrical Engineers Spring Conference, pp 35-37, 2017. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE07299237
  13. C. G. Kim, S. G. Lee and S. Y. Jung, "Design of Cogging Torque and Torque Ripples Reduction for High Precision Controlled SPMSM", The Transactions of the Korean Institute of Electrical Engineers, Vol 58, No. 10, pp 1923-1929, 2009. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01394188
  14. S. G. Lim, J. W. Lee, Y. K Moon, D. L. Jeon, S. H. Jin, I. H. Oh, D. I. Kim and S. K. Kim, "Development of AC Servo Motor Controller for Industrial Robot and CNC Machine System", Journal of the Korean Institute of Electrical Engineers, pp 1211-1214, 1992. Available from : http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01335644
  15. Dwight Byrd, "Closed-loop Motor Control:An Introduction to Rotary Resolvers and Encoders", Texas Instruments, pp.5-6, 2014.