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.pdfNAVI TRAINER 4000
MATHEMATICAL MODELS TECHNICAL DESCRIPTION
© Transas Marine Ltd. July, 2003
© Transas Marine Ltd. 2003
All rights reserved. The information contained herein is proprietary to Transas Marine Ltd. and shall not be duplicated in whole or in part.
The technical details contained in this manual are the best that are available at the date of issue
but are subject to change without notice. Transas Marine Ltd. pursues the policy of continuous development.
This may lead to the product described in this manual being different from the product delivered after its publication.
This document contains: |
|
Introduction ................................................................................................................ |
3 |
Abstract ................................................................................................................ |
5 |
List of Symbols ..................................................................................................... |
5 |
General...................................................................................................................... |
13 |
Ship Motion Mathematical Model ....................................................................... |
16 |
The Total Mechanical Forces and Moments Components ...................... |
22 |
Ship Motion in Calm Deep Water ........................................................................... |
25 |
Hydrodynamic Forces and Moments ................................................................. |
28 |
Inertial forces, Force of Buoyancy and Forces of Static Stability ............ |
29 |
Hull Hydrodynamic Characteristics .......................................................... |
30 |
Steering Device Hydrodynamics.............................................................. |
33 |
Propeller Hydrodynamic Characteristics.................................................. |
35 |
Thursters .................................................................................................. |
41 |
Engine Model With Remote Control System...................................................... |
41 |
Engine ...................................................................................................... |
41 |
Remote Control Systems ......................................................................... |
42 |
Control Driving Gear........................................................................................... |
46 |
Steering Gear........................................................................................... |
46 |
Tunnel Type Thruster Gear...................................................................... |
47 |
Vane Propeller Gear ................................................................................ |
47 |
Waterjet Gear........................................................................................... |
48 |
Nozzle Gear ............................................................................................. |
48 |
Environment Mathematical Models and Resulting Aero/Hydro Forces |
|
Effects ....................................................................................................................... |
49 |
Wind Forces ....................................................................................................... |
51 |
Current Forces ................................................................................................... |
54 |
Wave Forces ...................................................................................................... |
56 |
Hydrodynamic Interaction Forces Mathematical Description............................. |
59 |
Ship-Bottom Interaction ........................................................................... |
59 |
Ship to Wall and Ship to Ledge Hydrodynamic Interaction Forces ......... |
60 |
Ship to Wall and Ship to Bottom Interaction Force.................................. |
62 |
Ship to Ship Interaction Force.................................................................. |
64 |
External Mechanic Forces Mathematical Models ................................................. |
67 |
Mathematical Description of Forces due to Anchor Chains, Moors and Tow |
|
Lines................................................................................................................... |
69 |
Anchor Gear Model.................................................................................. |
69 |
Mooring Gear Model ................................................................................ |
71 |
Tow-Line Forces at Hull ........................................................................... |
73 |
Ship Collision with Other Objects............................................................. |
74 |
Automatic Vessel Movement Control Systems .................................................... |
77 |
Autopilot “Aist” .................................................................................................... |
80 |
Trace Control Unit .............................................................................................. |
80 |
NAVI-TRAINER 4000. Mathematical Models. Technical Description. |
1 |
List Of Obligatory Maneuvers at Mathematical Model Testing............................... |
81 |
References ........................................................................................................ |
85 |
Appendix 1 ............................................................................................................... |
93 |
Appendix 2 ............................................................................................................... |
99 |
2 NAVI-TRAINER 4000. Mathematical Models. Technical Description.
INTRODUCTION
This chapter contains general information on the work with the manual.
Copyright Transas Marine Ltd. 2003
Abstract
ABSTRACT
The document contains movement technical description for all the objects participating in the simulator performance, including possible mechanic and hydrodynamic influence of objects and/or environment. The technical description consists of two parts.
Part 1 contains description of conventional ships motion model, raid hardware models and environment elements.
Part 2 will contain the mathematical model description for fast mono-hull vehicle at planing and semi-planing conditions, and vehicle control systems. Part 2 is to be included into version 4.30.
LIST OF SYMBOLS
A2
AR
AWL
AX
AY
AYN
B
bcp
CB
Cm bal R CyN
Сmx BH
Сmx CHAN
Сmx R
СmxА
Сmy BOT
Сmy CHAN
Сmz BH
Сmz BOT
Сmz CHAN
Сmz IN --
Сmz R
the 2nd frame area
rudder area
waterplane area
above-water midship section area
above-water longitudinal section area
lateral area of superstructures when projected to longitudinal plane
beam midlength
rudder chord
block coefficient
non-dimensional rudder moment
non-dimensional nozzle lateral force
non-dimensional bare hull roll moment
non-dimensional roll moment due to walls influence
non-dimensional roll moment due to lateral rudder force
non-dimensional aerodynamic roll moment
non-dimensional pitch moment due to shallow waters
non-dimensional pitch moment due to walls influence
non-dimensional yaw moment on bare hull
non-dimensional yaw moment due to shallow water
non-dimensional yaw moment due to walls influence
non-dimensional hull-propeller interaction moment
non-dimensional yaw moment due to rudder
Introduction 5
List of Symbols
СmzPN
СmzА
СT
Сx 0
Сx BH
Сx BOT
Сx CHAN
Сx f0 Сx R Сx r
Сx SHIP
Сx VSP
Сx WALL
Сx WALL--1
СxА
Сy BH
Сy BOT
Сy CHAN
Сy IN Сy R
Сy SHIP
Сy VSP
Сy WALL
Сy WALL--1
СyPN
СyА Сz
Сz BOT
Сz CHAN Сz R
СzА
СхPN
non-dimensional yaw moment due to ducted propeller non-dimensional aerodynamic yaw moment non-dimensional propeller thrust
resistance coefficient
non-dimensional bare hull longitudinal aerodynamic force non-dimensional longitudinal force due to shallow waters non-dimensional longitudinal force due to walls and bottom influence frictional resistance of an equivalent plate
non-dimensional longitudinal rudder force Residuary resistance
non-dimensional longitudinal force due to other ship influence non-dimensional vane propeller thrust
non-dimensional longitudinal force due to walls influence non-dimensional longitudinal force due to ledged wall influence non-dimensional longitudinal aerodynamic force non-dimensional bare hull lateral force
non-dimensional lateral force due to shallow waters
non-dimensional lateral force due to walls and canal bottom influence non-dimensional hull-propeller interaction lateral force non-dimensional rudder lateral force
non-dimensional lateral force due to other ship influence non-dimensional vane propeller lateral force non-dimensional lateral force due to wall influence non-dimensional lateral force due to ledged wall influence non-dimensional ducted propeller lateral force non-dimensional aerodynamic lateral force non-dimensional bare hull vertical force
non-dimensional vertical force due to shallow waters
non-dimensional vertical force due to walls and canal bottom influence non-dimensional rudder vertical force
non-dimensional aerodynamic vertical force non-dimensional ducted propeller vertical force
6 NAVI-TRAINER 4000. Mathematical Models. Technical Description.
List of Symbols
HBOT |
water depth |
HCHAN |
canal depth |
eVSP |
vane propeller eccentricity |
DN |
internal nozzle diameter |
DP |
propeller diameter |
Fn |
Froude number |
Fx(M)ANCH |
longitudinal force due to anchor chain influence |
Fx(M)ROPE |
longitudinal force due to mooring influence |
Fx(M)SHIP |
longitudinal force due to hulls collision |
Fx(M)WALL |
longitudinal force due to wall collision |
FxA |
longitudinal aerodynamic force |
FxAР |
azimuth thruster longitudinal force |
FxBH |
longitudinal hydrodynamic force on bare hull |
FxBOT |
longitudinal force due to bottom influence |
FxC |
longitudinal force due to current |
FxCHAN |
longitudinal force due to bottom and walls influence |
FxP |
propeller thrust |
FxPN |
ducted propeller thrust |
FxSHIP |
longitudinal force due to another ship influence |
FxVSP |
vane propeller longitudinal force |
FxWALL |
longitudinal force due to wall influence |
FxWAVE |
longitudinal force due to waves |
FxWJ |
waterjet thrust |
Fy(M)ANCH |
lateral force due to anchor chain influence |
Fy(M)ROPE |
lateral force due to mooring influence |
Fy(M)SHIP |
lateral force due to hulls collision |
Fy(M)WALL |
lateral force due to wall collision |
FyA |
lateral aerodynamic force |
FyAР |
azimuth thruster lateral force |
FyBH |
lateral hydrodynamic force on bare hull |
FyBOT |
lateral force due to bottom influence |
FyC |
lateral force due to current |
Introduction 7
List of Symbols
FyCF
FyCHAN
FyIN
FyP
FyPN
FyR
FySHIP
FyTHR
FуVSP
FyWAVE
FyWJ
Fz (M)ANCH
Fz (M)ROPE
Fz (M)SHIP
Fz (M)WALL
Fz BOT
Fz CHAN
Fz SHIP
FzBH
Fzg
FzST
FzWAVE
g hθ
hψ
J
JVSP
Jx, Jy, Jz
KQ
KT
L
lCHN
centrifugal force
lateral force due to bottom and walls influence lateral force on hull due to rudder gear influence propeller lateral force
ducted propeller lateral force rudder lateral force
lateral force due to another ship influence thrust force
vane propeller lateral force lateral force due to waves waterjet lateral force
vertical force due to anchor chain influence vertical force due to mooring influence vertical force at hulls collision
vertical force at wall collision
vertical force due to bottom influence
vertical force due to walls and bottom influence vertical force due to another ship influence vertical hydrodynamic force on bare hull
hull weight
vertical projection of buoyancy force (in body axes) vertical force due to waves
gravitation acceleration Transverse metacentric height Longitudinal metacentric height Advance coefficient of propeller
Advance coefficient of vane propeller
moments of ship intertia torque coefficient thrust coefficient
length on waterline anchor chain length
8 NAVI-TRAINER 4000. Mathematical Models. Technical Description.