Experimental investigation on the effects of froude number on manoeuvring characteristic of a research vessel
TL;DR: Oceanographic research vessels (ORVs) are used to collect ocean data and analyse them to understand the physical, chemical and biological characteristics of seawater, seabed and other ocean-related...
Abstract: Oceanographic research vessels (ORVs) are used to collect ocean data and analyse them to understand the physical, chemical and biological characteristics of seawater, seabed and other ocean-related...
Citations
More filters
10 Sep 2021
TL;DR: In this paper, the performance of a proportional derivative type fuzzy controller with Mamdani interface scheme for dynamic positioning of an oceanographic research vessel (ORV) by numerical simulation is investigated.
Abstract: A dynamic positioning (DP) system is a computer-controlled system which maintains the positioning and heading of ship by means of active thrust. A DP system consist of sensors, observer, controller and thrust allocation algorithm. The purpose of this paper is to investigate the performance of proportional derivative type fuzzy controller with Mamdani interface scheme for dynamic positioning of an oceanographic research vessel (ORV) by numerical simulation. Nonlinear passive observer is used to filter the noise from the position and orientation. A nonlinear mathematical model of the ORV is subjected to the wave disturbance ranging from calm to phenomenal sea. Robustness and efficiency of the fuzzy logic controller is analysed in comparison with the multivariable proportional integral derivative (PID) and the linear quadratic regulator (LQR) controller. A simplified constrained linear quadratic algorithm is used for thrust allocation. The frequency response of the closed loop system with different controllers is analysed using the bode plot. The stability of controller is established using the Lyapunov criteria.
2 citations
References
More filters
TL;DR: In this paper, a new mathematical model for describing the maneuvering motion of ships and the needs to rationalize them is proposed, which consists of the individual open-water characteristics of hull, propeller, and rudder, and the interaction effect between them.
Abstract: Considering a wide variety of existing mathematical models for describing the maneuvering motion of ships and the needs to rationalize them, a new mathematical model is proposed. The model consists of the individual open-water characteristics of hull, propeller, and rudder, and the interaction effect between them.
127 citations
"Experimental investigation on the e..." refers methods in this paper
...Ogawa and Kasai (1978) used a similar approach but divided the force in three parts....
[...]
105 citations
"Experimental investigation on the e..." refers background in this paper
...Researchers such as Hirano and Kijima (1981) and Kijima and Nakiri (1990) came up with empirical relations which give a rough estimate of the hydrodynamic derivatives (these empirical relations are good for initial design calculation but they fails to predict non linear and coupled derivatives…...
[...]
TL;DR: The paper summarizes the experiences obtained from applying system identification methods to many different ships to investigate steering properties and to design autopilots for ship steering.
93 citations
TL;DR: In this article, the influence of various hydrodynamic coefficients on the predicted maneuverability quality of submerged bodies was investigated based on a constant-coefficient dynamic model, and the results quantified in form of sensitivity values are presented.
Abstract: Based on a constant-coefficient dynamic model, a study was made to determine the influence of various hydrodynamic coefficients on the predicted maneuverability quality of submerged bodies. Two types of geometries were considered, a submarine and an axisymmetric slender geometry. For the submarine, the equations of motion used were the revised standard submarine equations (Feldman 1979) while for the latter geometry a dynamic model was developed. From computer simulation of a few selected definitive maneuvers based on these two different dynamic models for the two geometries, the sensitivity of the simulated trajectory on changes in different coefficients was found. The results quantified in form of sensitivity values are presented. It is found that the typical measures from the maneuvers do not depend significantly on most of the nonlinear coefficients. The coefficients having significant effects on the trajectories are found to be the linear damping coefficients for the submarine and the linear inertial force coefficients for the axisymmetric body.
52 citations
"Experimental investigation on the e..." refers background in this paper
...It can be mathematically represented as (Sen 2000), Yij = ( R R† − 1) ( H H† − 1) (10) where Yij is sensitivity index for ith hydrodynamic derivative and jth manoeuvring parameter....
[...]
...It can be mathematically represented as (Sen 2000),...
[...]
01 Jan 1990
TL;DR: In this article, a mathematical model for predicting ship manoeuvrability is proposed and approximate formulae for estimating hydrodynamic forces acting on hull, propeller and rudder in deep water are shown.
Abstract: The authors propose the prediction method for ship manoeuvrability in deep and shallow waters. The mathematical model for prediction of ship manoeuvrability is proposed and the approximate formulae for estimating hydrodynamic forces acting on hull, propeller and rudder in deep water are shown. Also, the approximate formulae for estimating hydrodynamic forces acting on a ship in shallow water are proposed. These formulae are obtained semi-empirically by the results of model test and of numerical calculation by using the lifting surface theory. Finally, numerical simulations on turning motion are carried out by using the present mathematical model. The present method will be useful for the practical prediction of ship manoeuvrability in deep and shallow waters at the initial stage of design.
47 citations
"Experimental investigation on the e..." refers background in this paper
...Researchers such as Hirano and Kijima (1981) and Kijima and Nakiri (1990) came up with empirical relations which give a rough estimate of the hydrodynamic derivatives (these empirical relations are good for initial design calculation but they fails to predict non linear and coupled derivatives…...
[...]