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1.
This paper has shown a numerical motion simulation method which can be employed to study on parametric rolling of ships in a seaway. The method takes account of the main nonlinear terms in the rolling equation which stabilize parametric rolling, including the nonlinear shape of the righting arm curve, nonlinear damping and cross coupling among all 6 degrees of freedom. For the heave, pitch, sway and yaw motions, the method uses response amplitude operators determined by means of the strip method, whereas the roll and surge motions of the ship are simulated, using nonlinear motion equations coupled with the other 4 degrees of freedom. For computing righting arms in seaways, Grim's effective wave concept is used. Using these transfer functions of effective wave together with the heave and pitch transfer functions, the mean ship immersion, its trim and the effective regular wave height are computed for every time step during the simulation. The righting arm is interpolated from tables, computed before starting the simulation, depending on these three quantities and the heel angle. The nonlinear damping moment and the effect of bilge keels are also taken into account. The numerical simulation tool has shown to be able to model the basic mechanism of parametric rolling motions. Some main characteristics of parametric rolling of ships in a seaway can be good reproduced by means of the method. Comprehensive parametric analyses on parametric rolling amplitude in regular waves have been carried out, with that the complicated parametric rolling phenomena can be understood better. 相似文献
2.
This paper presents a Recursive Neural Network (RNN) manoeuvring simulation model for surface ships. Inputs to the simulation are the orders of rudder angle and ship’s speed and also the recursive outputs velocities of sway and yaw. This model is used to test the capabilities of artificial neural networks in manoeuvring simulation of ships. Two manoeuvres are simulated: tactical circles and zigzags. The results between both simulations are compared in order to analyse the accuracy of the RNN. The simulations are performed for the Mariner hull. The data generated to train the network are obtained from a manoeuvrability model performing the simulation of different manoeuvring tests. The RNN proved to be a robust and accurate tool for manoeuvring simulation. 相似文献
3.
The 6 degrees of freedom (DOF) model with a high degree of complexity for capturing ship dynamics is generally able to track the nonlinear and coupling dynamics of ships. However, the 6 DOF model makes challenges in estimating model coefficients and designing the model-based control. Therefore, simplified ship dynamic models within allowed accuracy are essential. This paper simplified the 6 DOF nonlinear dynamic model of ships into two decoupled models including the speed model and the steering model through reasonable assumptions. Those models were tested through maneuvering simulations of a container ship with a 4 DOF dynamic model. Support vector machines (SVM) optimized by the artificial bee colony algorithm (ABC) was used to identify parameters of speed and steering models by analyzing the rudder angle, propeller shaft speed, surge and sway velocities, and yaw rate from simulated data extracted from a series of maneuvers made by the container ship. Comparisons with the first order linear and nonlinear Nomoto models show that the simplified nonlinear steering model can capture more complicated dynamics and performs better. Additionally, comparisons among three different parameter identification methods demonstrate similar identification results but the different performance involving the applicability and effectiveness. SVM optimized by ABC is relatively convenient and effective for parameter identification of ship simplified dynamic models. 相似文献
4.
Current paper presents a mathematical model based on 2D-asymmetric wedge water entry to model heave and pitch motions of planing hulls at non-zero heel angles. Vertical and horizontal forces as well as heeling moment due to asymmetric water entry are computed using momentum theory in conjunction with added mass of impact velocity in vertical and horizontal directions. The proposed model is able to compute sway and yaw forces, roll moment, as well as heave and pitch motions in calm water and regular waves. Validity of the proposed model is verified by comparing the results against existing experimental data in both symmetric and asymmetric conditions. Ultimately, different parametric studies are conducted to examine the effects of non-zero heel angle on dynamic vertical motions. The resulting sway and yaw forces due to asymmetric motion are also derived and effects of heel angle on these side forces are investigated. 相似文献
5.
This documentation presents the parametric identification modeling of ship maneuvering motion with integral sample structure for identification (ISSI) and Euler sample structure for identification (ESSI) based on least square support vector machines (LS-SVM), where ISSI is used for the construction of in–out sample pairs. By using Mariner Class Vessel, the sample dataset are obtained from 15°/15° zigzag maneuvering simulation based on Abkowitz model. By analyzing the simulation data including rudder angle, surge velocity, sway velocity, yaw rate and so forth, the hydrodynamic derivatives in Abkowitz model are all identified. The validation of the proposed identification algorithm is verified by the high precisions of the identified hydrodynamic derivatives and maneuvering prediction results. The comparison is also conducted between the proposed ISSI and the conventional Euler sample structure for identification (ESSI), and the experimental results shows that ISSI is much more appropriate for parametric identification modeling of ship maneuvering motion. 相似文献
7.
CFD, system-based and EFD study of ship dynamic instability events: Surf-riding, periodic motion, and broaching 总被引：1，自引：0，他引：1
Hamid Sadat-Hosseini Frederick Stern Naoya Umeda Shinya Yamamura 《Ocean Engineering》2011,38(1):88-110
CFD and system-based simulation are used to predict broaching, surf-riding, and periodic motion for the ONR Tumblehome model, including captive and free model test validation studies. CFD shows close agreement with EFD for calm water resistance, static heel (except for sway force and yaw moment), and static drift (except for roll moment). CFD predictions of static heel in following waves also compare well with EFD except for surge force, sway force, and pitch angle. Froude-Krylov calculations of wave-induced surge force in following waves provides good agreement for high Froude number, but significantly overestimates for Froude number less than 0.2. On the other hand, CFD successfully reproduces the reduction of the wave-induced surge force near Froude number 0.2, probably because CFD can capture the 3D wave pattern. CFD free model simulations are performed for several speeds and headings and validated for the first time for surf-riding, broaching, and periodic motions. System-based simulations are carried out based on inputs from EFD, CFD, and Froude-Krylov for a dense grid of speeds and headings to predict the instability map, which were found to produce fairly similar results. 相似文献
8.
For the non-negligible roll-coupling effect on ship maneuvering motion, a system-based method is used to investigate 4-DOF ship maneuvering motion in calm water for the ONR tumblehome model. A 4-DOF MMG model is employed to describe ship maneuvering motion including surge, sway, roll, and yaw. Simulations of circular motion test, static drift and heel tests are performed by solving the Reynolds-averaged Navier-Stokes (RANS) equations, after a convergence study quantifying the necessary grid spacing and time step to resolve the flow field adequately. The local flow field is analyzed for the selected cases, and the global hydrodynamic forces acting on the ship model are compared with the available experiment data. Hydrodynamic derivatives relating to sway velocity, yaw rate, and heel angle are computed from the computed force/moment data using least square method, showing good agreement with those obtained from EFD data overall. In order to investigate further the validity of these derivatives, turning circle and zigzag tests are simulated by using the 4-DOF MMG model with these derivatives. The trajectories and the time histories of the kinematic variables show satisfactory agreement with the data of free-running model tests, indicating that the system-based method coupled with CFD simulation has promising capability to predict the 4-DOF ship maneuvering motion for the unconventional vessel. 相似文献
9.
D.A. Chapman 《Ocean Engineering》1984,11(6):627-654
The lateral motions of roll, yaw and sway of a heavy towed fish are investigated. Perturbation lateral ship motion propagates down the cable as a damped wave and non-dimensional tables are provided that allow the attenuation of the motion to be estimated. The tables are supplemented by a short BASIC computer program for calculations outside the tabular range.Three-dimensional dynamic simulation of the Bath Mk 3 Sonar Fish is used to establish the effects of fish weight, towstaff length and vertical fin size on the amplitude of rolling and yawing motion. It is shown that very careful adjustment of fin size can reduce the amplitude of yawing motion by a factor of about 3. It is also shown that attaching the cable to the fish with a towstaff free to pivot only in pitch improves the towing properties of the fish and reduces the amplitude of rolling motion. 相似文献
10.
This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller. 相似文献
11.
This study considers the coupling effects of ship motion and sloshing. The linear ship motion is solved using an impulse-response-function (IRF) method, while the nonlinear sloshing flow is simulated using a finite-difference method. The IRF method requires the frequency-domain solution prior to conversion to time domain, but the computational effort is much less than that of direct time-domain approaches. The developed scheme is verified by comparing the motion RAOs between the frequency-domain solution and the solution obtained by the IRF method. Furthermore, a soft-spring concept and linear roll damping are implemented to predict more realistic motions of surge, sway, yaw, and roll. For the simulation of sloshing flow in liquid tanks, a physics-based numerical approach adopted by Kim [2001. Numerical simulation of sloshing flows with impact load. Applied Ocean Research 23, 53–62] and Kim et al. [2004. Numerical study on slosh-induced impact pressures on three-dimensional prismatic tanks. Applied Ocean Research 26, 213–226] is applied. In particular, the present method focuses on the simulation of the global motion of sloshing flow, ignoring some local phenomena. The sloshing-induced forces and moments are added to wave-excitation forces and moments, and then the corresponding body motion is obtained. The developed schemes are applied for two problems: the sway motion of a box-type barge with rectangular tanks and the roll motion of a modified S175 hull with rectangular anti-rolling tank. Motion RAOs are compared with existing results, showing fair agreement. It is found that the nonlinearity of sloshing flow is very important in coupling analysis. Due to the nonlinearity of sloshing flow, ship motion shows a strong sensitivity to wave slope. 相似文献
12.
The effects of free-surface waves on the floating structures are of great importance in the offshore industry. Among the six degrees of motions of a surface ship the absence of restoring forces in surge, sway and yaw led to critical situations for moored ships in the recent times. The order of forces in horizontal plane and their exciting frequencies are matters of interest. The resonance with the presence of moored chains led to many accidents in the recent past. The lines in dry conditions may not give good damping and in wet condition they may trigger the system to chaotic motions and jumps. Two different loading conditions of a container ship model are tested with waves in laboratory conditions in two different drafts. The mooring lines are chosen as per scale law and the energy under the response spectrum is determined from the plots. The results give new insights into the movement of a berthed ships subjected to waves. Response of the moored ship to different loading conditions in different water depths are discussed in this paper. The paper gives the order of energy due to first-order and slowly varying movement of a berthed container model in a towing tank. 相似文献
13.
This paper presents a neural network (NN) controller for a fishing vessel rudder roll system. The aim of this study is to build a NN controller which uses rudder to regulate both the yaw and roll motion. The neural controller design is accomplished with using the classical back-propagation algorithm (CBA). Effectiveness of the proposed NN control scheme is compared with linear quadratic regulator (LQR) results by simulations carried out a fishing vessel rudder roll stabilizer system. 相似文献
14.
On the track keeping and roll reduction of the ship in random waves using different sliding mode controllers 总被引：1，自引：0，他引：1
In the paper, an autopilot system composed of sliding mode controller and line-of-sight guidance technique are adopted to navigate the ship in random waves by altering the rudder deflection. Two kinds of sliding mode controller are considered; one is the separate system including sway–yaw control and roll control, the other is the compact system considering sway–roll–yaw control altogether. Both track keeping and roll reduction are accomplished by rudder control and the design parameters of controller are optimized by genetic algorithm. The present simulation results show both the separate controller and the compact controller work quite well, either for track keeping or roll reduction while the ship is sailing in random waves. However, the separate controller is recommended due to its simplicity. 相似文献
15.
The large roll motion of ships sailing in the seaway is undesirable because it may lead to the seasickness of crew and unsafety of vessels and cargoes, thus it needs to be reduced. The aim of this study is to design a rudder roll stabilization system based on Radial Basis Function Neural Network (RBFNN) control algorithm for ship advancing in the seaway only through rudder actions. In the proposed stabilization system, the course keeping controller and the roll damping controller were accomplished by utilizing modified Unscented Kalman Filter (UKF) training algorithm, and implemented in parallel to maintain the orientation and reduce roll motion simultaneously. The nonlinear mathematical model, which includes manoeuvring characteristics and wave disturbances, was adopted to analyse ship’s responses. Various sailing states and the external wave disturbances were considered to validate the performance and robustness of the proposed roll stabilizer. The results indicate that the designed control system performs better than the Back Propagation (BP) neural networks based control system and conventional Proportional-Derivative (PD) based control system in terms of reducing roll motion for ship in waves. 相似文献
16.
Jan Petrich 《Ocean Engineering》2011,38(1):197-204
Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output H∞ control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials. 相似文献
17.
The use of an unsteady computational fluid dynamic analysis of the manoeuvring performance of a self-propelled ship requires a large computational resource that restricts its use as part of a ship design process. A method is presented that significantly reduces computational cost by coupling a blade element momentum theory (BEMT) propeller model with the solution of the Reynolds averaged Navier Stokes (RANS) equations. The approach allows the determination of manoeuvring coefficients for a self-propelled ship travelling straight ahead, at a drift angle and for differing rudder angles. The swept volume of the propeller is divided into discrete annuli for which the axial and tangential momentum changes of the fluid passing through the propeller are balanced with the blade element performance of each propeller section. Such an approach allows the interaction effects between hull, propeller and rudder to be captured. Results are presented for the fully appended model scale self-propelled KRISO very large crude carrier 2 (KVLCC2) hull form undergoing static rudder and static drift tests at a Reynolds number of 4.6×106 acting at the ship self-propulsion point. All computations were carried out on a typical workstation using a hybrid finite volume mesh size of 2.1×106 elements. The computational uncertainty is typically 2–3% for side force and yaw moment. 相似文献
18.
随着船舶大型化和港口建设深水化发展,外海不同周期波浪作用下大型系泊船泊稳问题与小型系泊船相比出现了新的特点。为此,利用数值模型方法研究了在不同入射角度和周期的涌浪作用下港内大型系泊船的水动力响应,针对系泊船的泊稳情况探讨了船舶的运动规律和运动特性。研究发现,在涌浪周期较大的情况下,限定波高的泊稳标准不足以用来确定系泊船的正常作业条件,港内泊船的水平运动（纵荡、横荡和艏摇）极易超出运动标准值并影响装卸作业效率,并且船舶的水平运动表现出主要由次重力波主导的低频运动特性,而垂直运动（垂荡、横摇和纵摇）表现出主要由短波主导的波频运动特性。 相似文献
19.
Maneuverability is an important aspect of marine vehicle design. The performance of a rudder, as the most important means of maneuvering, has significant impacts on ship controllability characteristics. This study investigated the effect of five rudder profiles (NACA 0012, NACA0025, IFS, Fish tail, HSVA) on the turning characteristics of KCS containership model. This investigation was performed by direct simulation of the ship turning circle maneuver in computational fluid dynamic environment based on the ITTC verification procedure. All rudders were defined with the same lateral area. Simulations were conducted with the commercial software STAR-CCM+. The rudder turning and the ship's dynamic motion were modeled by the use of an overset technique and six-DOF dynamic solver, respectively. Roll, pitch and heave motions and forward speed reduction during the turning maneuver with different rudders were computed and compared. Results show that the rudder profiles designed specifically for marine applications (Fishtail, IFS and HSVA) perform better than the traditional NACA series. 相似文献
20.
A.K. Jain 《Ocean Engineering》1997,24(7):577-592
Among the compliant platforms, the tension leg platform (TLP) is a vertically moored structure with excess buoyancy. The TLP is designed to behave in the same way as any other moored structure in horizontal plane, at the same time inheriting the stiffness of a fixed platform in the vertical plane. Dynamic response analysis of a TLP to deterministic first order wave forces is presented, considering coupling between the degrees-of-freedom surge, sway, heave, roll, pitch and yaw. The analysis considers nonlinearities produced due to changes in cable tension and due to nonlinear hydrodynamic drag forces. The wave forces on the elements of the pontoon structure are calculated using Airy's wave theory and Morison's equation ignoring diffraction effects. The nonlinear equation of motion is solved in the time domain by Newmark's beta integration scheme. The effects of different parameters that influence the response of the TLP are then investigated. 相似文献