An autonomous scale ship model for towing tank testing
14 Nov 2013-Vol. 01, pp 25-29
TL;DR: Some results obtained by its application on a towing tank test campaign, aimed at developing a parametric roll detection system, are presented.
Abstract: This paper presents the work done for developing a self-propelled scale ship model for towing tank testing, with the main characteristic of not having any material link to a towing device to carry out the tests. This model has been fully instrumented in order to acquire all the significant raw data, process them onboard and communicate with an inshore station, and all this for both seakeeping and resistance tests. In order to illustrate the applicability and advantages of the proposed model, some results obtained by its application on a towing tank test campaign, aimed at developing a parametric roll detection system, are also presented.
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01 Sep 2016
TL;DR: In this paper, an onboard integrated system for a controlled free running ship model using data acquired from a Motion Reference Unit (MRU) was developed using the reference data, the system performed processing and control through wireless communication (Wi-Fi).
Abstract: This paper presents a work carried out to develop an onboard integrated system for a controlled free running ship model using data acquired from a Motion Reference Unit(MRU). Using the reference data, the system performs processing and control through wireless communication (Wi-Fi). The application of free running model is to investigate the sea keeping and maneuvering characteristics of a ship. In such a scenario there are disturbing external forces and hence a time - position data based closed loop control algorithm is essential. The development provides the nucleus for such a controlled autonomous system. The ship based integrated system consists of azimuth propulsion unit, MRU, central processing unit for control, data link and a battery pack for autonomous operation of the ship model. A proportional controller is used with the feedback from the MRU to perform heading control using azimuth propulsion system. Quality of free running model test is improved with this system as compared to traditional facilities with captive model and follower carriage based system.
4 citations
01 Jan 2019
TL;DR: The present work describes the design implementation and testing of embedded system of an autonomous system for unmanned surface vehicles/ship model in the laboratory environment and demonstrates full-free running self-controlled model in a disturbance environment.
Abstract: Sea-keeping, maneuvering, and motion tests of surface vehicle/ship model need self-propelled scale model which can perform different maneuvers. The present work describes the design implementation and testing of embedded system of an autonomous system for unmanned surface vehicles (USVs)/ship model in the laboratory environment. This is a first-time national development test in the wave basin has demonstrated full-free running self-controlled model in a disturbance environment. The central unit of the system is an embedded controller, compact reconfigurable input–output (cRIO) which features a field-programmable gate array (FPGA) and a processor running Linux-based real-time operating system. It performs the main propulsion control, rudder control data logging and telemetry. The peripherals are interfaced with main controller through multifunction input–output module. The RS-232 communication is used to interface the MRU sensor with main controller. LabVIEW is used as programming tool to develop a program to control the peripherals connected to the main controller and data acquisition over a wireless link using Wi-Fi. A graphical user interface is developed to send control commands and visualize the 4-degree of motion at base station in real time.
1 citations
01 Jul 2020
TL;DR: In this paper, two stepper motors have been used to drive a towing tank carriage and Pulse Width Modulation (PWM) technique is used to control the speed of the towing carriage according to the speed profile calculated in advance depending on the required operating conditions of the test model.
Abstract: Towing tanks are widely used in measuring of hydrodynamic coefficients and study dynamics of marine vehicles at different operating conditions of motion and different geometry characteristics. In this paper, two stepper motors have been used to drive a towing tank carriage and Pulse Width Modulation (PWM) technique is used to control the speed of the towing carriage according to the speed profile calculated in advance depending on the required operating conditions of the test model. AVR microcontroller has been used to linearly control the speed of the stepper motors in three phases, accelerating from zero to its steady state speed, steady state speed and decelerating until stop. The proposed work makes any required speed profile easy to be obtained and fulfilled in real time, such as the profile needed for a single long acceleration phase throughout the most of the length of tank which is needed in the experimental work for added inertia measurement purpose. A general case to reach an assigned constant speed for hull drag measurements with two different phases of acceleration and deceleration is introduced.
1 citations
01 Sep 2015
TL;DR: This paper presents the strategies used to develop a speed control system on board of an autonomous ship model that is being specifically developed to perform towing tank testing.
Abstract: This paper presents the strategies used to develop a speed control system for a ship model. This speed control is a part of a larger control and data acquisition system on board of an autonomous ship model that is being specifically developed to perform towing tank testing. Taking into account the requirements for this speed control system, and that the speeds to be measured are about one meter per second, a Laser Rangefinder is used as mean for measuring the speed of the model. This is quite unusual because these devices are just intended to measure distances between motionless objects. Various approaches used for setting up the controller are also presented.
1 citations
15 May 2019
TL;DR: A free self-propulsion, self, on-board controlled, surface ship model that incorporates Wi-Fi enabled robust communication and control and protocols for data storage, exchange, multiple device control and communication to fleet sister surface ships for fleet control is offered.
Abstract: Captive model testing for ship motions, sea-keeping and dynamic effects has been always a challenge due to the large amount of channels of data, the need for continuous data communication for effect feedback control, and in the case of extended studies relating to fleets, the methodology for group fleet control. For the first time a solution is offered by designing a free self-propulsion, self, on-board controlled, surface ship model. The design incorporates Wi-Fi enabled robust communication and control and protocols for data storage, exchange, multiple device control and communication to fleet sister surface ships for fleet control. The design is described in this paper with details of implementation on a demonstration oceanographic research vessel. It illustrates the excellent communication between shore station computer and the on-board system on a wire-free model with robust control and exhibiting all the motion behavior and dynamic effects.
1 citations
References
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01 Jun 2021
TL;DR: The Society of Naval Architects and Marine Engineers as mentioned in this paper published a Handbook of Marine Craft Hydrodynamics and Motion Control for the U.S. military in the early 1970s.
Abstract: Technical and Research Symposium Society of Naval Architects and Marine EngineersMcGraw-Hill Encyclopedia of Science and TechnologyJane's High-speed Marine Craft and Air Cushion VehiclesNew York Port HandbookUndersea Technology Handbook, Directory无模型自适应控制兵法简述Marine Technology and SNAME News人月神話有限元方法Marine Robotics and Applications周易譯注余欢弹性固体中波的传播Aeroplane and Commercial Aviation NewsBulletin of the Permanent International Association of Navigation Congresses递推辨识的理论与实践Handbook of Marine Craft Hydrodynamics and Motion ControlTransactionsTransactions The Society of Naval Architects and Marine EngineersNaval Engineers JournalJane's High-speed Marine Craft核潜艇之旅生活的暗面食物恋Jane's Surface Skimmers美, 看不见的竞争力Mechanical Engineers' Handbook: Power; J. Kenneth Salisbury, editor离散时间控制系统概率, 随机变量与随机过程Government Reports Announcements & IndexMonthly Catalog of United States Government PublicationsDirectory of Special Libraries and Information Centers一個人住第9年Penny Stock HandbookHandbook on Selling to the U.S. MilitaryUnderwater Science and Technology Information Bulletin一个人流浪, 不必去远方The ProceedingsGovernment Reports Announcements
1,630 citations
08 Apr 2011
TL;DR: In this article, the authors present a survey of the latest tools for analysis and design of advanced guidance, navigation and control systems and present new material on underwater vehicles and surface vessels.
Abstract: The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed.
1,389 citations
01 Jan 2003
TL;DR: In this paper, a post-Panamax C11 class containership encountered extreme weather and sustained extensive loss and damage to deck stowed containers, and the motions of the vessel during this storm event were investigated through a series of model tests and numerical analyses that confirmed the vessel's parametric rolling response in head seas at the time of the casualty.
Abstract: In October 1998 a post-Panamax C11 class containership encountered extreme weather and sustained extensive loss and damage to deck stowed containers. The motions of the vessel during this storm event were investigated through a series of model tests and numerical analyses that confirmed the vessel's parametric rolling response in head seas at the time of the casualty. These studies provide insight into the conditions in which post-Panamax containerships are likely to experience head sea parametric rolling, and the magnitude of motions and accelerations that can occur. The findings from this investigation are presented in this paper, together with discussion of how such extreme motions impact the design and application of container securing systems. Also outlined in the paper are recommendations for additional research needed to better understand the influence of vessel design and operational considerations on the propensity of post-Panamax containerships towards parametric rolling. This investigation and other recent studies demonstrate that parametric roll in extreme head or near head seas can occur when unfavorable tuning is combined with low roll damping (reduced speed) and large stability variations (governed by wavelength, wave height, general hull form, bow flare, and stern shapes). Parametric rolling is an unstable phenomenon, which can quickly generate large roll angles that are coupled with significant pitch motions. The rolling occurs in phase with pitch, and on containerships introduces high loads into the containers and their securing systems. It appears that post-Panamax containerships may be particularly prone to this behavior. This is an important issue considering the large number of these vessels scheduled for delivery in the next few years.
252 citations
TL;DR: In this paper, a post-Panamax, C11 class containership encountered extreme weather and sustained extensive loss and damage to deck stowed containers during a storm event, and the motions of the vessel during this storm event were investigated through a series of model tests and numerical analyses.
Abstract: Recent studies have demonstrated that parametric roll in extreme head or near head seas can occur when unfavorable tuning is combined with low roll damping (reduced speed) and large stability variations (governed by wavelength, wave height, general hull form, bow flare, and stern shapes). Parametric rolling is an unstable phenomenon, which can quickly generate large roll angles that are coupled with significant pitch motions. The rolling occurs in phase with pitch, and on containership s introduces high loads into the containers and their securing systems. It appears that post-Panamax containerships may be particularly prone to this behavior. This is an important issue considering the large number of these vessels scheduled for delivery in the next few years. In October, 1998, a post-Panamax, C11 class containership encountered extreme weather and sustained extensive loss and damage to deck stowed containers. The motions of the vessel during this storm event were investigated through a series of model tests and numerical analyses. These studies provide insight into the conditions in which post-Panamax containerships are likely to experience head sea parametric rolling, and the magnitude of motions and accelerations that can occur. The findings from this investigation are presented in this paper, together with discussion of how such extreme motions impact the design and application of container securing systems. Also outlined in the paper are recommendations for additional research needed to better understand the influence of vessel design and operational considerations on the propensity of post-Panamax containerships towards parametric rolling.
220 citations
"An autonomous scale ship model for ..." refers background in this paper
...…the ship sails in longitudinal seas and when a certain set of conditions are present, which include a wave encounter frequency ranging twice the ship’s natural roll frequency, a wavelength of the incident waves almost equal to the ship length and a wave amplitude larger than a given threshold [2]....
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34 citations
"An autonomous scale ship model for ..." refers background in this paper
...Typically the free degrees are heave –vertical displacement–, roll and pitch –rotation around transversal axis–, which are the ones most heavily influencing the phenomenon [3,4]....
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