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Journal ArticleDOI

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...
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Journal ArticleDOI
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

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Proceedings ArticleDOI
25 Sep 2018
TL;DR: A comparison between the forces and moments measured in static drift tests, considering a pitch orientation ranging from 0 to 360 degrees, and the static hydrodynamic derivatives in a reference orientation is presented.
Abstract: This work is the Part I of a two-part work, where the maneuverability of three manifold geometries was investigated by Towing Tank tests at the Institute for Technological Research, in order to verify the influence of geometrical simplifications and modifications. In this work is presented a comparison between the forces and moments measured in static drift tests, considering a pitch orientation ranging from 0 to 360 degrees, and the static hydrodynamic derivatives in a reference orientation. In the Part II, the investigations were complemented by the results of dynamic tests. The manifold models were constructed in a 1:13 scale. The first model was a geometrically simplified version of the prototype, composed of two simple blocks; the second one was constructed with almost all the prototype geometric details; the last one used the second model with a plate installed on its top. The tests results indicate that the geometrical simplification of manifold models did not have a significant influence on the maneuvering coefficients, in contrast to the addition of the top plate, which significantly changed the maneuvering capabilities of the model. The study presented in both papers will be used to form a data base for numerical simulation studies for manifolds installation.

1 citations


"Experimental investigation on the e..." refers methods in this paper

  • ...Manoeuvrability of three manifold geometric structure was studied using static test (Kleine 2018) and dynamic PMM tests (Guedes 2018)....

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