Influence of different controllers on ship motion stabilization at applied active fin stabilizer
|
|
- Arleen Shelton
- 5 years ago
- Views:
Transcription
1 Influence of different controllers on ship motion stabilization at applied active fin stabilizer Imed El Fray, Zbigniew Kubik Technical University of Szczecin Department of Computer Science, ul. Zolnierska Szczecin, Poland tuniv.szczecin.pl Abstract The aim of the presented paper is to compare the fin stabilizer's efficiency depending on the steering method and selected controller adjustment. A digital simulation technique was used in order to evaluate the control methods on reduction of the ship resistance. It was found that the classical controller was more effective than optimal controller, but it can generate a bigger fin angle of attack. Optimal controller and optimal controller with the predictor generated lower fin angles of attack what provided much lower decrease of ship velocity at progressive motion when compared with classical controller characterised by greater decrease of ship velocity. As an effect, the increase of the ship drag caused by classical controller can be observed. 1 Introduction The reduction of the rolling motion can be realised by using special technical devices, eg. passive roll tank stabilisers, active roll tank stabilisers, and fin stabilisers. These stabilisers generate moment that is opposite to the disturbances ^'\ The base of the numerical simulation is the mathematical model of the dynamic sytem : ship and fin stabiliser which is described by the set of differential equations. Using this model the considered parameters as a function of the time were generated. 2 Mathematical Model of Ship Motion With Fin Stabiliser The mathematical model of dynamic ship motion which describes the sway, the surge, and the roll motions, respectively, and the yaw motion can be given in the following eqns. * *: 4-7V + K
2 282 Marine Technology In the above equation the H-index denotes the hydromechanical reactions, especially the hydromechanical forces and moments acting on a vesel in a seaway (the rudder and the screw motion are not considered). The R-index denotes the forces generated by the rudder, including the hydromechanical forces acting on a vesel when rudder is used. The P-index denotes the propeller's pressure. The aim of presented paper is to show the optimal control of fin stabilization system with preservation of high dampingability of the roll motion by analysing the ship's behaviour on the seaway. The ship drag increment can be caused by the uncorrect fin controll, especially the fin angle attack. The block diagram of the active fin stabilization system is presented on the (Figure 1). M Wave Ship I measuring noise Kalman Filtr White noise Active fin stabiliser ^ *o Controller Figure 1: Block diagram of the active stabilization system The executive mechanism of the fin stabiliser is an inertial nonlinear element. In the case of synthesis of the regulator controling the fin operation, the non-linearity can be negligible. Reguator should be selected in the way that it is impossible to exceed the values of limited angle. The executive mechanism offinstabilizer is shown in a diagramme (Figure 2). Figure 2: Executive mechanism offinstabiliser After simplification of the mathematical model (1) the differential equation of the motion can be written as in *: (2)
3 Marine Technology 283 where: fift - nondimensional roll damping coefficient, G)jQ- frequency of the roll motion, a g. - effective wave slope, ^F -fin'sangle of attack Presented paper considersthe roll motion stabilization problem, however in order to solve the external disturbance phenomenon, only the most important effect generated by the seaway was considered. The ct (t) in the equation (2) represents the wave slope angle generated by the waved surface of the sea. The height of wave spectrum was calculated according to the ITTC requirements, as: where: _2 173/ii/s r 691 r In the simulations a wave level of encounter hg is generated with a rational spectrum approximation *: *'*' * ll 2coVcos]3/g\ co* + 2(al - J3f)co^ + (CL\ + /3l)~ where: a>e = 0) - co* V / g cos/7 _frequencyof the encounter 1, D - /z.% - variation of the sea wave, as a stationary and ergodic, ' 16 random process with an average zero value, Of, Pf - coefficients of the filter A stochastic process with spectral density * is obtained as an output from thefilterwhen the white noise is applied into the input: where: >/2ab,, = k f - gain coefficient of the filter. g Figure 3 shows the modeling of disturbances using forming filter.
4 284 Marine Technology Figure 3: Modeling of disturbances using forming filter 3 Results and Discussion The active fin stabiliser provide the most effective stabilization for thevegselstraveling with a high speed on the seaway. The working active fin stabilisers increase also the added resistance of the ship. The most effective roll stabiliser we can consider only in the field of the optimal control. The base for application of another control algorithm is optimal filtering. Moreover, it is important to choose the correct' frequency range for filtering. Investigated algorithms are based (without the classical PDD^ regulator) on the Kalmanfilteringtheory. The classical PDD^ regulator is a base for efficient comparision of the algorithms supported by control theory. The optimal regulator with Kalman filter and the optimal regulator with n-step Kalman's predictor were considered for all experiments. To judge the performance of these controllers, the simulation experiment approach was used. The efficiency of stabilization can be examined at the laboratory by using a nonlinear mathematical model of the ships dynamics. The simplest method for obtaining the performance index which can be usually applied is to take one of the quadratic criterion. The main criteria for fin stabiliser can be expressed as follows: where A, J = J (o* (6) - weighting factor. The ship PA 2124 type was considered ; to compare the experiments simulation tests with used mathematical model. Simulation program was written in FORTRAN programming language. The aim of the numerical simulation was to solve the differential equation using the Runge - Kutta method. The main program require the following input data: length between perpendiculars, width, draft, ship velocity, " resistance as a function of velocity (without stabilizer), cross wave with h^/g= 3.10 m and 5.25 m, T= 7.4 s and 8.5 s. In Figure 4 the results of stabilization for different kind of control systems, namely active fin stabiliser controlled by classic PDD^ controllers (ideal and real), and optimal controller with Kalmanfilter,as well as an optimal controller with predictor (Figure 4) had been compared.
5 Marine Technology 285 From these results it can be seen, that active fin stabiliser controlled by classical controllers shows better efficiency than optimal controllers [deg) 3 finangle of attack a - ideal at a sea state of 6 and 8 (the North Pacific) b - real at a sea state of 6 and 8 (the North Pacific) Figure 4: Simulation of roll motion for ship stabilised by classic regulator PDD%:
6 286 Marine Technology SO TOO a - optimal regulator at the sea state of 6 and 8 (the North Pacific) b - optimal with predictor at the sea state of 6 and 8 (the North Pacific) Figure 5: Simulation of roll motion for ship stabilised by : The PDD* regulator exhibit the best efficiency compared with other used controllers. On the other hand, the PDD* regulator generate a very high values of the fin angles of attack (close to maximum) comparing with two other regulators, namely optimal and optimal with predictor. The best efficiency of stabilisation is observed for the North Pacific state of 8. The power spectra presented on Figure 6 confirm a good stabilization by the PDD* regulator. A considerable decreasing of the efficiency of stabilization was observed for lower state of sea.
7 Marine Technology unstabilised ship, 2.stabilised ship with optimal regulator with predictor, 3. stabilised ship with optimal regulator, 4. stabilised ship with real PDD^ regulator, 5. stabilised ship with ideal PDD^ regulator Figure 6: The power spectra of angles for unstabilised and stabilised ship on irregular wave for the state of sea 6 and 8 respectively In Figure 7 the probabilities of exceeding roll angles are presented. For considered two stabilisers the ship roll motions can be decreased up to 40-60% for the state of sea 8 and up to 20-40% for the state of sea 6, respectively. Prob{I<Dl Prob {101 >0>») <D- [deg] 1. unstabilised ship, 2. stabilised ship with optimal regulator with predictor, 3. stabilised ship with optimal regulator, 4. stabilised ship with real PDD^ regulator, 5. stabilised ship with ideal PDD* regulator Figure 7: Probability of exceeding roll angles for unstabilised and stabilised ship on irregular wave for the state of sea 6 and 8 respectively The ideal PDD* regulator has the best efficiency, but high energy consumption by the ships propulsion system due to excessive fins angles of attack (Figure 8). The application of optimal control algorithm causes a decrease in the main value of fins' angles of attack (about 40%). As a result of smaller fins' angles a reduction of added resistance of ship energy consumption by fin actuator is achieved.
8 288 Marine Technology Prob {151 > 5-} 1. stabilised ship with ideal PDD^regulator, 2. stabilised ship with real PDD^regulator, 3. stabilised ship with optimal regulator, 4. stabilised ship with optimal regulator with predictor Figure 8: Probability of exceeding fin angles for attack on irregular wave for the state of sea 6 and 8 respectively 4 Conclusions The general conclusion is that for the investigated ship the application of the fin stabiliser controlled by classical controller is more effective than optimal controller, but it can generate bigger fin angle of attack. Optimal controller and optimal controller with predictor generate lower fin angles of attack which provide much lower decrease of ship velocity at pregressive motion comparing with classical controller characterised by greater decrease of ship velocity. As an effect, the increase of the ship drag caused by classical controller can be observed. References 1 Dudziak I, Teoria okretu, WM Gdansk, Cox G.G., Lloyd A.R., Hydrodynamic Design Basis for Navy Ship Roll Motion Stabilization, Transaction SNAME, vol. 85, Kawazoe T, Nishikido S., Wada Y.: Effect of Fin Area and Control Methods on Reduction of Roll Motion with Fin Stabilizers. Bulletin of Marine Engineering Society in Japan vol.22, Lloyd A. R: Roll stabilizer Fins. A Design Procedure, Royal Institution of Naval architects, vol.117, Kalstrom G., Ottosson P., The Generation and Controll of Roll Motion of Ships in Close Turns, 4th International Symposium of Ship Operation Automation, Geneva, Italy, Sept El Fray I., Synteza systemu sterowania aktywnym stabilizatorem kolysan bocznych statku w obecnosci wysokoczestotliwosciowych skladowych zaklocen, Technical University of Szczecin, Szczecin Rozenberg L., Parczewski S., Pejace J., Performance Analysis for Ship Roll Stabilisers Simulation Experiment, International Rostocker Schiffstech. Symposium, 1987, p Van Berlekom W. B., Lindgren H., " The SSPA Maritime Dynamics Laboratory. Backround experience and future development.", SSPA International Symposium on Ocean Engineering Ship Handling Goteberg, Sweden, Proceedings pi: 1.
ITTC Recommended Procedures and Guidelines
Page 1 of 6 Table of Contents 1. PURPOSE...2 2. PARAMETERS...2 2.1 General Considerations...2 3 DESCRIPTION OF PROCEDURE...2 3.1 Model Design and Construction...2 3.2 Measurements...3 3.5 Execution of
More informationDynamic Stability of Ships in Waves
Gourlay, T.P. & Lilienthal, T. 2002 Dynamic stability of ships in waves. Proc. Pacific 2002 International Maritime Conference, Sydney, Jan 2002. ABSTRACT Dynamic Stability of Ships in Waves Tim Gourlay
More informationMODELLING OF WATER FLOW ON SMALL VESSEL S DECK
Monika Warmowska, Jan Jankowski, Polski Rejestr Statków S.A., al. gen. Józefa Hallera 126, Poland, Gdańsk, 80-416 MODELLING OF WATER FLOW ON SMALL VESSEL S DECK Summary Green water moving on deck of small
More informationIMO REVISION OF THE INTACT STABILITY CODE. Proposal of methodology of direct assessment for stability under dead ship condition. Submitted by Japan
INTERNATIONAL MARITIME ORGANIZATION E IMO SUB-COMMITTEE ON STABILITY AND LOAD LINES AND ON FISHING VESSELS SAFETY 49th session Agenda item 5 SLF 49/5/5 19 May 2006 Original: ENGLISH REVISION OF THE INTACT
More informationMATHEMATICAL MODELLING FOR RUDDER ROLL STADILIZATION. and J.C. van Cappelle. Control Laboratory. Electrical Engineering Dept.
MATHEMATICAL MODELLING FOR RUDDER ROLL STADILIZATION 1ab v -Scheepsouwkuo Technische Hogeschool Deift by J. van Amerongen and J.C. van Cappelle Control Laboratory Electrical Engineering Dept. Delft University
More information1. A tendency to roll or heel when turning (a known and typically constant disturbance) 2. Motion induced by surface waves of certain frequencies.
Department of Mechanical Engineering Massachusetts Institute of Technology 2.14 Analysis and Design of Feedback Control Systems Fall 2004 October 21, 2004 Case Study on Ship Roll Control Problem Statement:
More informationCRITERIA OF BOW-DIVING PHENOMENA FOR PLANING CRAFT
531 CRITERIA OF BOW-DIVING PHENOMENA FOR PLANING CRAFT Toru KATAYAMA, Graduate School of Engineering, Osaka Prefecture University (Japan) Kentarou TAMURA, Universal Shipbuilding Corporation (Japan) Yoshiho
More informationITTC - Recommended Procedures and Guidelines
7.5 Page 1 of 5 Table of Contents 1. PURPOSE OF PROCEDURE... 2 2. DESCRIPTION OF PROCEDURE... 2 4. DOCUMENTATION... 4 5. REFERENCES... 4 3. PARAMETERS... 4 Updated by Approved Manoeuvring Committee of
More informationRoll Stabilisation at Anchor: Hydrodynamic Aspects of the Comparison of Anti-Roll Tanks and Fins
Roll Stabilisation at Anchor: Hydrodynamic Aspects of the Comparison of Anti-Roll Tanks and Fins R.P. Dallinga, Manager Seakeeping Department Maritime Research Institute Netherlands (MARIN) Project 2002,
More informationA Note on the Capsizing of Vessels in Following and Quartering Seas
Oceanic Engineenng International, Vol. 1, No. 1, 1997, pp. 25-32 A Note on the Capsizing of Vessels in Following and Quartering Seas MARTIN RENILSON' * 'Australian Maritime Engineering CRC Ltd, c/o Australian
More informationApproximate Method of Calculating Forces on Rudder During Ship Sailing on a Shipping Route
http://www.transnav.eu the International Journal on Marine Navigation and Safety of Sea Transportation Volume 8 Number 3 September 014 DOI: 10.1716/1001.08.03.18 Approximate Method of Calculating Forces
More informationIntegrated control system for ship motion in inland navigation
Integrated control system for ship motion in inland navigation J. Kulczyk, T. Bielihski Institute ofmachines Desing and Operation, Technical University of Wroclaw, Wybrzeze Wyspianskiego 27, 50-370 Wroclaw,
More informationAdvanced Applications in Naval Architecture Beyond the Prescriptions in Class Society Rules
Advanced Applications in Naval Architecture Beyond the Prescriptions in Class Society Rules CAE Naval 2013, 13/06/2013 Sergio Mello Norman Neumann Advanced Applications in Naval Architecture Introduction
More informationConventional Ship Testing
Conventional Ship Testing Experimental Methods in Marine Hydrodynamics Lecture in week 34 Chapter 6 in the lecture notes 1 Conventional Ship Testing - Topics: Resistance tests Propeller open water tests
More informationA Feasibility Study on a New Trimaran PCC in Medium Speed
The 6 th International Workshop on Ship ydrodynamics, IWS 010 January 9-1, 010, arbin, China Feasibility Study on a ew Trimaran PCC in Medium Speed Tatsuhiro Mizobe 1*, Yasunori ihei 1 and Yoshiho Ikeda
More informationExperimental Study on the Large Roll Motion of a ROPAX Ship in the Following and Quartering Waves
Experimental Study on the Large Roll Motion of a ROPAX Ship in the Following and Quartering Waves Sun Young Kim, Nam Sun Son, Hyeon Kyu Yoon Maritime & Ocean Engineering Research Institute, KORDI ABSTRACT
More informationA Study on Roll Damping of Bilge Keels for New Non-Ballast Ship with Rounder Cross Section
International Ship Stability Workshop 2013 1 A Study on Roll Damping of Bilge Keels for New Non-Ballast Ship with Rounder Cross Section Tatsuya Miyake and Yoshiho Ikeda Department of Marine System Engineering,
More informationAnalysis of Factors Affecting Extreme Ship Motions in Following and Quartering Seas
Analysis of Factors Affecting Extreme Ship Motions in Following and Quartering Seas Chang Seop Kwon *, Dong Jin Yeo **, Key Pyo Rhee *** and Sang Woong Yun *** Samsung Heavy Industries Co., td. * Maritime
More informationFORECASTING OF ROLLING MOTION OF SMALL FISHING VESSELS UNDER FISHING OPERATION APPLYING A NON-DETERMINISTIC METHOD
8 th International Conference on 633 FORECASTING OF ROLLING MOTION OF SMALL FISHING VESSELS UNDER FISHING OPERATION APPLYING A NON-DETERMINISTIC METHOD Nobuo Kimura, Kiyoshi Amagai Graduate School of Fisheries
More informationSplit-time Algorithm Implementation in Advanced Hydrodynamic Codes
Proceedings of the 15 th International Ship Stability Workshop, 13-15 June 2016, Stockholm, Sweden 1 Split-time Algorithm Implementation in Advanced Hydrodynamic Codes Kenneth Weems, Naval Surface Warfare
More informationFin hydrodynamics of a windsurfer L. Sutherland & RA. Wilson Department of Ship Science, University of Southampton, Highfield, Southampton,
Fin hydrodynamics of a windsurfer L. Sutherland & RA. Wilson Department of Ship Science, University of Southampton, Highfield, Southampton, 1 Introduction Windsurfing is a relatively new technical sport
More informationAn investigation of kinematic and kinetic variables for the description of prosthetic gait using the ENOCH system
An investigation of kinematic and kinetic variables for the description of prosthetic gait using the ENOCH system K. OBERG and H. LANSHAMMAR* Amputee Training and Research Unit, University Hospital, Fack,
More informationFUZZY MONTE CARLO METHOD FOR PROBABILITY OF CAPSIZING CALCULATION USING REGULAR AND NON-REGULAR WAVE
Tomasz Hinz, Polish Registry of Shipping;Tomasz.Hinz@prs.pl Jerzy Matusiak, Aalto University School of Science and Technology FUZZY MONTE CARLO METHOD FOR PROBABILITY OF CAPSIZING CALCULATION USING REGULAR
More informationITTC Recommended Procedures Testing and Extrapolation Methods Loads and Responses, Seakeeping Experiments on Rarely Occurring Events
Loads and Responses, Seakeeping Page 1 of 5 CONTENTS 1. PURPOSE OF PROCEDURE 2. STANDARDS FOR EXPERIMENTS ON RARELY OCCURRING EVENTS 2.1 Previous Recommendations of ITTC 2.2 Model Design and Construction
More informationVentilated marine propeller performance in regular and irregular waves; an experimental investigation
Ventilated marine propeller performance in regular and irregular waves; an experimental investigation G. K. Politis Department of Naval Architecture & Marine Engineering, National Technical University
More informationDevelopment of Fish type Robot based on the Analysis of Swimming Motion of Bluefin Tuna Comparison between Tuna-type Fin and Rectangular Fin -
Development of Fish type Robot based on the Analysis of Swimming Motion of Bluefin Tuna Comparison between Tuna-type Fin and Rectangular Fin - Katsuya KUGAI* Abstract The swimming motion of Tuna type fishes
More informationFigure 1 Figure 1 shows the involved forces that must be taken into consideration for rudder design. Among the most widely known profiles, the most su
THE RUDDER starting from the requirements supplied by the customer, the designer must obtain the rudder's characteristics that satisfy such requirements. Subsequently, from such characteristics he must
More informationComputationally Efficient Determination of Long Term Extreme Out-of-Plane Loads for Offshore Turbines
Computationally Efficient Determination of Long Term Extreme Out-of-Plane Loads for Offshore Turbines Anand Natarajan Senior Scientist Wind Energy Department, Risø DTU Denmark Introduction IEC 61400-1
More informationComparative Stability Analysis of a Frigate According to the Different Navy Rules in Waves
Comparative Stability Analysis of a Frigate According to the Different Navy Rules in Waves ABSTRACT Emre Kahramano lu, Technical University, emrek@yildiz.edu.tr Hüseyin Y lmaz,, hyilmaz@yildiz.edu.tr Burak
More informationAbstract. 1 Introduction
A computational method for calculatingthe instantaneous restoring coefficients for a ship moving in waves N. El-Simillawy College of Engineering and Technology, Arab Academyfor Science and Technology,
More informationEVALUATING CRITERIA FOR DP VESSELS
Journal of KONES Powertrain and Transport, Vol. 20, No. 2013 EVALUATING CRITERIA FOR DP VESSELS Jerzy Herdzik Gdynia Maritime University, Marine Power Plant Department Morska Street 81-87, 81-225 Gdynia,
More informationA Planing Boat's Thrust and Resistanc
A Planing Boat's Thrust and Resistanc Y Yoshida International Boat Research, Japan concurring Tokyo industrial Technical College of Tsuzuln Integrated Educational Institute,,Japan Abstract This paper is
More informationThe influence of wind, wave and loading condition on total resistance and speed of the vessel
POLISH MARITIME RESEARCH 3(83) 214 Vol. 21; pp. 61-67 1.2478/pomr-214-31 The influence of wind, wave and loading condition on total resistance and speed of the vessel Tadeusz Szelangiewicz 1, Prof. Bernard
More informationAbstract. 1 Introduction
Developments in modelling ship rudder-propeller interaction A.F. Molland & S.R. Turnock Department of Ship Science, University of Southampton, Highfield, Southampton, S017 IBJ, Hampshire, UK Abstract A
More informationMASTER THESIS PRESENTATION. Comparison Of Seakeeping Performance Of The Two Super Yachts Of 53 And 46 m In Length
MASTER THESIS PRESENTATION Comparison Of Seakeeping Performance Of The Two Super Yachts Of 53 And 46 m In Length Muhammad Asim Saleem Supervisor : Prof. Dario Boote, Universita degli studi di Genova, Italy
More informationSelecting Monohull, Catamaran and Trimaran as Suitable Passenger Vessels Based on Stability and Seakeeping Criteria
Selecting Monohull, Catamaran and Trimaran as Suitable Passenger Vessels Based on Stability and Seakeeping Criteria Richard B Luhulima 1, D Setyawan 2, and I K A P Utama 3 1. PhD Student Dept. of Naval
More informationEffect of floating bridge vertical motion on vehicle ride comfort and road grip. Dragan Sekulic, Postdoctoral Researcher
Effect of floating bridge vertical motion on vehicle ride comfort and road grip Dragan Sekulic, Postdoctoral Researcher GOALS OF INVESTIGATION LOADS: WIND+WAVES BRIDGE (VERTICAL) MOTION DRIVER, VEHICLE
More informationPREDICTION OF SHIP TURNING MANEUVERS IN CONSTANT WIND AND REGULAR WAVES
International Journal of Technology (2017) 3: 387-397 ISSN 2086-9614 IJTech 2017 PREDICTION OF SHIP TURNING MANEUVERS IN CONSTANT WIND AND REGULAR WAVES Daeng Paroka 1*, Andi Haris Muhammad 2, Syamsul
More informationZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots
ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots Jong H. Park School of Mechanical Engineering Hanyang University Seoul, 33-79, Korea email:jong.park@ieee.org Yong K. Rhee School of
More informationStudy on Marine Propeller Running in Bubbly Flow
Third International Symposium on Marine Propulsors smp 13, Launceston, Tasmania, Australia, May 2013 Study on Marine Propeller Running in Bubbly Flow Chiharu Kawakita Mitsubishi Heavy Industries, Ltd.,
More informationInfluence of wave steepness on extreme ship hull vertical wave bending moments
Influence of wave steepness on extreme ship hull vertical wave bending moments J. Parunov & I. SenjanoviC Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Croatia. Abstract
More informationDevelopment of Technology to Estimate the Flow Field around Ship Hull Considering Wave Making and Propeller Rotating Effects
Development of Technology to Estimate the Flow Field around Ship Hull Considering Wave Making and Propeller Rotating Effects 53 MAKOTO KAWABUCHI *1 MASAYA KUBOTA *1 SATORU ISHIKAWA *2 As can be seen from
More information2.016: Hydrodynamics
2.016: Hydrodynamics Alexandra H. Techet Dept. of Mechanical Engineering Lecture 1 What is Hydrodynamics? Hydrodynamics v. Aerodynamics Water is almost 1000 times denser than air! Marine Hydrodynamics
More informationAn Investigation into the Capsizing Accident of a Pusher Tug Boat
An Investigation into the Capsizing Accident of a Pusher Tug Boat Harukuni Taguchi, National Maritime Research Institute (NMRI) taguchi@nmri.go.jp Tomihiro Haraguchi, National Maritime Research Institute
More informationApplication of Simulation Technology to Mitsubishi Air Lubrication System
50 Application of Simulation Technology to Mitsubishi Air Lubrication System CHIHARU KAWAKITA *1 SHINSUKE SATO *2 TAKAHIRO OKIMOTO *2 For the development and design of the Mitsubishi Air Lubrication System
More informationJ. Szantyr Lecture No. 21 Aerodynamics of the lifting foils Lifting foils are important parts of many products of contemporary technology.
J. Szantyr Lecture No. 21 Aerodynamics of the lifting foils Lifting foils are important parts of many products of contemporary technology. < Helicopters Aircraft Gliders Sails > < Keels and rudders Hydrofoils
More informationPREDICTION METHODS FOR BROACHING AND THEIR VALIDATION - FINAL REPORT OF SCAPE COMMITTEE (PART 6) -
PREDICTION METHODS FOR BROACHING AND THEIR VALIDATION - FINAL REPORT OF SCAPE COMMITTEE (PART 6) - Naoya UMEDA*, Hirotada HASHIMOTO*, Atsuo MAKI*, Masatoshi HORI*, Akihiko MATSUDA** and Tsutomu MOMOKI**
More informationImproving Cost Efficiency of DP Operations by Enhanced Thruster Allocation Strategy
Return to Session Menu DYNAMIC POSITIONING CONFERENCE October 14-15, 2014 GREEN INITIATIVES Improving Cost Efficiency of DP Operations by Enhanced Thruster Allocation Strategy Sofien Kerkeni SIREHNA IMPROVED
More informationWave Forces on a Moored Vessel from Numerical Wave Model Results
Wave Forces on a Moored Vessel from Numerical Wave Model Results ABSTRACT P W O BRIEN OMC International Pty Ltd, Melbourne, Australia O WEILER WL Delft Hydraulics, Delft, The Netherlands M BORSBOOM WL
More informationInternational Research Journal of Electronics and Computer Engineering Vol 1(3) Oct-Dec 2015
The PLC Based Design for the Air Compressor Control Process Miss Zahra Haghparas Electrical and electronic engineering Shiraz university of technology Shiraz, Iran f.haghparas@yahoo.com Ebrahim Abiri Associate
More informationAn Investigation of a Safety Level in Terms of. Excessive Acceleration in Rough Seas
Proceedings of the h International Conference on the Stability of Ships and Ocean Vehicles, 4-9 June 5, Glasgow, UK. An Investigation of a Safety Level in Terms of Excessive Acceleration in Rough Seas
More informationAnalysis and Research of Mooring System. Jiahui Fan*
nd International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 07) Analysis and Research of Mooring System Jiahui Fan* School of environment, North China Electric
More informationDYNAMIC POSITIONING CONFERENCE October 7-8, New Applications. Dynamic Positioning for Heavy Lift Applications
Return to Session Directory DYNAMIC POSITIONING CONFERENCE October 7-8, 2008 New Applications Dynamic Positioning for Heavy Lift Applications John Flint and Richard Stephens Converteam UK Ltd. (Rugby,
More informationExperimental and Simulation Studies on Fast Delft372 Catamaran Maneuvering and Course Stability in Deep and Shallow Water
11 th International Conference on Fast Sea Transportation FAST 211, Honolulu, Hawaii, USA, September 211 Experimental and Simulation Studies on Fast Delft372 Catamaran Maneuvering and Course Stability
More informationModelling of Extreme Waves Related to Stability Research
Modelling of Extreme Waves Related to Stability Research Janou Hennig 1 and Frans van Walree 1 1. Maritime Research Institute Netherlands,(MARIN), Wageningen, the Netherlands Abstract: The paper deals
More informationNumerical and Experimental Investigation of the Possibility of Forming the Wake Flow of Large Ships by Using the Vortex Generators
Second International Symposium on Marine Propulsors smp 11, Hamburg, Germany, June 2011 Numerical and Experimental Investigation of the Possibility of Forming the Wake Flow of Large Ships by Using the
More informationQuantification of the Effects of Turbulence in Wind on the Flutter Stability of Suspension Bridges
Quantification of the Effects of Turbulence in Wind on the Flutter Stability of Suspension Bridges T. Abbas 1 and G. Morgenthal 2 1 PhD candidate, Graduate College 1462, Department of Civil Engineering,
More informationSlamming Analysis on a 35,000 Ton Class of Drillship
Slamming Analysis on a 35,000 Ton Class of Drillship Mahasin M. Ahmad, a,* Eko B. Djatmiko, b, and Handayanu, b a) Master Degree Student, Marine Technology Post-Graduate Program, Institut Teknologi Sepuluh
More informationINCLINOMETER DEVICE FOR SHIP STABILITY EVALUATION
Proceedings of COBEM 2009 Copyright 2009 by ABCM 20th International Congress of Mechanical Engineering November 15-20, 2009, Gramado, RS, Brazil INCLINOMETER DEVICE FOR SHIP STABILITY EVALUATION Helena
More informationSea waves models used in maritime simulators
Scientiic Journals Maritime University o Szczecin Zeszyty Naukowe Akademia Morska w Szczecinie 1, 3(1) z. pp. 186 19 1, 3(1) z. s. 186 19 Sea waves models used in maritime simulators Piotr Zwolan, Krzyszto
More informationCOUPLED DYNAMIC ANALYSIS OF MOORING LINES FOR DEEP WATER FLOATING SYSTEMS
Proceedings of International Conference in Ocean Engineering, ICOE Proceedings 2009 of ICOE 2009 Coupled Dynamic Analysis IIT Madras, of Chennai, Mooring India. Lines for Deep Water Floating Systems 1-5
More informationAuthor s Name Name of the Paper Session. Positioning Committee. Marine Technology Society. DYNAMIC POSITIONING CONFERENCE September 18-19, 2001
Author s Name Name of the Paper Session PDynamic Positioning Committee Marine Technology Society DYNAMIC POSITIONING CONFERENCE September 18-19, 2001 POWER PLANT SESSION A New Concept for Fuel Tight DP
More informationPHYSICAL AND NUMERICAL MODELLING OF WAVE FIELD IN FRONT OF THE CONTAINER TERMINAL PEAR - PORT OF RIJEKA (ADRIATIC SEA)
PHYSICAL AND NUMERICAL MODELLING OF WAVE FIELD IN FRONT OF THE CONTAINER TERMINAL PEAR - PORT OF RIJEKA (ADRIATIC SEA) DALIBOR CAREVIĆ (1), GORAN LONČAR (1), VLADIMIR ANDROČEC (1) & MARIN PALADIN (1) 1.
More informationSimulation analysis of the influence of breathing on the performance in breaststroke
Available online at www.sciencedirect.com Procedia Engineering 34 (2012 ) 736 741 9 th Conference of the International Sports Engineering Association (ISEA) Simulation analysis of the influence of breathing
More informationControl of surge and pitch motions of a rectangular floating body using internal sloshing phenomena. Minho Ha and *Cheolung Cheong 1)
Control of surge and pitch motions of a rectangular floating body using internal sloshing phenomena Minho Ha and *Cheolung Cheong 1) School of Mechanical Engineering, PNU, Busan 609-735, Korea 1) ccheong@pusan.ac.kr
More informationITTC Recommended Procedures and Guidelines Testing and Extrapolation Methods, Propulsion, Performance, Predicting Powering Margins
03 -.5 Page 1 of 9 Table of Contents 1. PURPOSE OF PROCEDURE... 2 2. DEFINITIONS... 2 2.1 List of Symbols... 2 2.2 Definition of Margins... 2 3. RESPONSIBILITIES... 3 4. PROCEDURE... 5 4.1 Resistance Increase
More informationRESPONSE BASED WEATHER-ROUTING AND OPERATION PLANNING OF HEAVY TRANSPORT VESSELS
RESPONSE BASED WEATHER-ROUTING AND OPERATION PLANNING OF HEAVY TRANSPORT VESSELS L J M Adegeest, AMARCON, The Netherlands SUMMARY Using the dynamic characteristics of the vessel in combination with weather
More informationModelling and Simulation of Environmental Disturbances
Modelling and Simulation of Environmental Disturbances (Module 5) Dr Tristan Perez Centre for Complex Dynamic Systems and Control (CDSC) Prof. Thor I Fossen Department of Engineering Cybernetics 18/09/2007
More informationLQG Based Robust Tracking Control of Blood Gases during Extracorporeal Membrane Oxygenation
2011 American Control Conference on O'Farrell Street, San Francisco, CA, USA June 29 - July 01, 2011 LQG Based Robust Tracking Control of Blood Gases during Extracorporeal Membrane Oxygenation David J.
More informationRogue Wave Statistics and Dynamics Using Large-Scale Direct Simulations
Rogue Wave Statistics and Dynamics Using Large-Scale Direct Simulations Dick K.P. Yue Center for Ocean Engineering Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge,
More informationReduction of ship steering gear load at high sea states by decreasing rudder angular velocity
Scientific Journals Maritime University of Szczecin Zeszyty Naukowe Akademia Morska w Szczecinie 2013, 36(108) z. 1 pp. 138 143 2013, 36(108) z. 1 s. 138 143 ISSN 1733-8670 Reduction of ship steering gear
More informationImproved Cost Efficiency of DP Operations by Enhanced Thrust Allocation Strategy
Author s Name Name of the Paper DYNAMIC POSITIONING CONFERENCE October 14-15, 2014 GREEN INITIATIVES SESSION Improved Cost Efficiency of DP Operations by Enhanced Thrust Allocation Strategy By Sofien Kerkeni
More informationSTICTION: THE HIDDEN MENACE
STICTION: THE HIDDEN MENACE How to Recognize This Most Difficult Cause of Loop Cycling By Michel Ruel Reprinted with permission from Control Magazine, November 2000. (Most figures courtesy of ExperTune
More informationVoith Water Tractor Improved Manoeuvrability and Seakeeping Behaviour
Amsterdam, The Netherlands Organised by the ABR Company Ltd Day Paper No. 2 9 Voith Water Tractor Improved Manoeuvrability and Seakeeping Behaviour Dr Dirk Jürgens and Michael Palm, Voith Turbo Schneider
More informationCHAPTER 132. Roundhead Stability of Berm Breakwaters
CHAPTER 132 Roundhead Stability of Berm Breakwaters Jergen Juhl 1, Amir Alikham, Peter Sloth, Renata Archetti Abstract Three-dimensional (3D) model tests were carried out for studying the stability of
More informationYasuyuki Hirose 1. Abstract
Study on Tsunami force for PC box girder Yasuyuki Hirose 1 Abstract In this study, a waterway experiment was performed in order to understand the influence of tsunami forms on tsunami forces acting on
More informationThe Usage of Propeller Tunnels For Higher Efficiency and Lower Vibration. M. Burak Şamşul
The Usage of Propeller Tunnels For Higher Efficiency and Lower Vibration M. Burak Şamşul ITU AYOC 2014 - Milper Pervane Teknolojileri Company Profile MILPER is established in 2011 as a Research and Development
More informationOMAE Proceedings of OMAE st International Conference on Offshore Mechanics and Artic Engineering June 23-28, 2002,Oslo, Norway
Proceedings of OMAE 02 21 st International Conference on Offshore Mechanics and Artic Engineering June 23-28, 2002,Oslo, Norway OMAE2002-28477 RANDOM WAVES AND CAPSIZE PROBABILITY BASED ON LARGE AMPLITUDE
More informationHydrodynamic optimization of twin-skeg LNG ships by CFD and model testing
csnak, 2014 Int. J. Nav. Archit. Ocean Eng. (2014) 6:392~405 http://dx.doi.org/10.2478/ijnaoe-2013-0187 pissn: 2092-6782, eissn: 2092-6790 Hydrodynamic optimization of twin-skeg LNG ships by CFD and model
More informationSAMPLE MAT Proceedings of the 10th International Conference on Stability of Ships
and Ocean Vehicles 1 Application of Dynamic V-Lines to Naval Vessels Matthew Heywood, BMT Defence Services Ltd, mheywood@bm tdsl.co.uk David Smith, UK Ministry of Defence, DESSESea-ShipStab1@mod.uk ABSTRACT
More informationExperiment Results for Automatic Ship Berthing using Artificial Neural Network Based Controller. Yaseen Adnan Ahmed.* Kazuhiko Hasegawa.
Preprints of the 19th World Congress The International Federation of Automatic Control Cape Town, South Africa. August -9, 1 Experiment Results for Automatic Ship Berthing using Artificial Neural Network
More informationITTC Recommended Procedures and Guidelines
Page 1 of 10 Table of Contents 1. PURPOSE... 2 2. NUMERICAL METHODS... 2 3. PREPARATION, SIMULATIONS AND ANALYSIS... 4 3.1 Geometry... 4 3.2 Preparations... 5 3.3 Wave conditions... 6 3.4 Wind conditions...
More informationChallenges in estimating the vessel station-keeping performance
Challenges in estimating the vessel station-keeping performance Luca Pivano, Brede Børhaug and Øyvind Smogeli Marine Cybernetics, Trondheim, Norway E-mail: lp@marinecyb.com One of the challenges in the
More informationTHE EFFECTS OF THE HULL VANE ON SHIP MOTIONS OF FERRIES AND ROPAX VESSELS
THE EFFECTS OF THE HULL VANE ON SHIP MOTIONS OF FERRIES AND ROPAX VESSELS K Uithof, B Bouckaert, P G van Oossanen, and N Moerke, Hull Vane B.V., van Oossanen Naval Architecture, and van Oossanen Fluid
More informationA STUDY OF THE LOSSES AND INTERACTIONS BETWEEN ONE OR MORE BOW THRUSTERS AND A CATAMARAN HULL
A STUDY OF THE LOSSES AND INTERACTIONS BETWEEN ONE OR MORE BOW THRUSTERS AND A CATAMARAN HULL L Boddy and T Clarke, Austal Ships, Australia SUMMARY CFD analysis has been conducted on a 100m catamaran hull
More informationExperimental Investigation of the Effect of Waves and Ventilation on Thruster Loadings
First International Symposium on Marine Propulsors SMP 9, Trondheim, Norway, June 29 Experimental Investigation of the Effect of Waves and Ventilation on Thruster Loadings Kourosh Koushan; Silas J. B.
More informationThe Effect of Mast Height and Centre of Gravity on the Re-righting of Sailing Yachts
THE 17 th CHESAPEAKE SAILING YACHT SYMPOSIUM ANNAPOLIS, MARYLAND, MARCH 25 The Effect of Mast Height and Centre of Gravity on the Re-righting of Sailing Yachts Jonathan R. Binns, Researcher, Australian
More informationZIPWAKE DYNAMIC TRIM CONTROL SYSTEM OUTLINE OF OPERATING PRINCIPLES BEHIND THE AUTOMATIC MOTION CONTROL FEATURES
ZIPWAKE DYNAMIC TRIM CONTROL SYSTEM OUTLINE OF OPERATING PRINCIPLES BEHIND THE AUTOMATIC MOTION CONTROL FEATURES TABLE OF CONTENTS 1 INTRODUCTION 3 2 SYSTEM COMPONENTS 3 3 PITCH AND ROLL ANGLES 4 4 AUTOMATIC
More informationResearch on Small Wind Power System Based on H-type Vertical Wind Turbine Rong-Qiang GUAN a, Jing YU b
06 International Conference on Mechanics Design, Manufacturing and Automation (MDM 06) ISBN: 978--60595-354-0 Research on Small Wind Power System Based on H-type Vertical Wind Turbine Rong-Qiang GUAN a,
More informationArtificial Neural Network Based Automatic Ship Berthing Combining PD Controlled Side Thrusters
Artificial Neural Network Based Automatic Ship Berthing Combining PD Controlled Side Thrusters - A Combined Controller for Final approaching to Berth - Yaseen Adnan AHMED and Kazuhiko HASEGAWA Department
More informationShoreline Evolution Due to Oblique Waves in Presence of Submerged Breakwaters. Nima Zakeri (Corresponding Author), Mojtaba Tajziehchi
Shoreline Evolution Due to Oblique Waves in Presence of Submerged Breakwaters Nima Zakeri (Corresponding Author), Mojtaba Tajziehchi Department of Civil Engineering, Faculty of Engineering, University
More informationBody Stabilization of PDW toward Humanoid Walking
Body Stabilization of PDW toward Humanoid Walking Masaki Haruna, Masaki Ogino, Koh Hosoda, Minoru Asada Dept. of Adaptive Machine Systems, Osaka University, Suita, Osaka, 565-0871, Japan ABSTRACT Passive
More informationDesigning a Traffic Circle By David Bosworth For MATH 714
Designing a Traffic Circle By David Bosworth For MATH 714 Abstract We all have had the experience of sitting in a traffic jam, or we ve seen cars bunched up on a road for some no apparent reason. The use
More informationADAMS OFFSHORE SERVICES LIMITED, 5th Floor, Regent Center, Regent Road, Aberdeen, United Kingdom - AB11 5NS DPSV ADAMS AQUANAUT. DP Capability Plot
ADAMS OFFSHORE SERVICES LIMITED, 5th Floor, Regent Center, Regent Road, Aberdeen, United Kingdom - AB11 5NS DPSV ADAMS AQUANAUT DP Capability Plot Product/Project: StatCap Document title: Synopsis: DP
More informationEVALUATION OF TIMBER CARRIER DECK CARGO JETTISON DYNAMICS
1 th International Conference 621 EVALUATION OF TIMBER CARRIER DECK CARGO JETTISON DYNAMICS Sergey V. Antonenko, D. Sc, professor, Far-Eastern National Technical Univ. (FENTU), Vladivostok, Russia, e-mail:
More informationTHE EFFECT OF COUPLED HEAVE/HEAVE VELOCITY OR SWAY/SWAY VELOCITY INITIAL CONDITIONS ON CAPSIZE MODELING
8 th International Conference on 521 THE EFFECT OF COUPLED HEAVE/HEAVE VELOCITY OR SWAY/SWAY VELOCITY INITIAL CONDITIONS ON CAPSIZE MODELING Leigh S. McCue and Armin W. Troesch Department of Naval Architecture
More informationTrim and Stabilisation systems NEXT GENERATION IN BOAT CONTROL.
Trim and Stabilisation systems NEXT GENERATION IN BOAT CONTROL www.humphree.com WHEN EFFICIENCY AND PERFORMANCE REALLY MATTERS! Humphree proudly presents the new HCS-5 The HCS-5 combines exceptional mechanical
More informationProceedings of the ASME nd International Conference on Ocean, Offshore and Arctic Engineering OMAE2013 June 9-14, 2013, Nantes, France
Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering OMAE2013 June 9-14, 2013, Nantes, France OMAE2013-10675 THE EFFECT OF WAVE ENERGY SPREADING ON THE MOORING
More informationBubble Dynamics in a Vibrating Liquid. By: James Wymer, Jaggar Henzerling, Aaron Kilgallon, Michael McIntire, Mohammed Ghallab
Bubble Dynamics in a Vibrating Liquid By: James Wymer, Jaggar Henzerling, Aaron Kilgallon, Michael McIntire, Mohammed Ghallab Background In the early 1960 s a series of rocket failures plagued leading
More informationITTC Recommended Procedures and Guidelines
Page 1 of 7 Table of Contents 2 1. PURPOSE... 2 2. PARAMETERS... 2 2.2. General Considerations... 2 2.3. Special Requirements for Ro-Ro Ferries... 3 3.3. Instrumentation... 4 3.4. Preparation... 5 3.5.
More information