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Mathematical Description of Forces due to Anchor Chains, Moors and Tow Lines

The mathematical model allows to describe ship movement in automatic mode. For that, mathematical description of several autopilot types is provided. The database contains characteristics of the following autopilot types:

•multifunctional autopilot;

•autopilot “Aist”;

•ship trace control unit. Multifunctional Autopilot

Multifunctional autopilot operation diagram is illustrated on Fig. 27.

Fig. 27. Multifunctional Autopilot Diagram

Legend: V,ϕ, ω z are the ship velocity, current course angle and angular velocity, ϕ is the set course angle, δ is the set rudder angle.

Autopilot provides two ship operation modes: set course stabilization and transition to a new course. When operating in the second mode, autopilot implements ship turning to a new course without overcorrection with set angular velocity.

Autopilot adjustment parameters include:

•limiting rudder angle (5о … 35о);

•limiting course deviation (5о … 30о);

•angular turning velocity (0 … 240о/min);

•sensitivity (1 … 10).

When the course deviation value exceeds the limiting value, FGC is engaged. When deviation exceeds the limiting value for the third time, autopilot is turned off.

When the course is stabilized, autopilot provides the minimal of rudder angle changes. Set rudder angle is generated according to the following equation:

δ& = (δ 0 − δ )Ku (V ),

where δ 0 = K ϕ (V ) ϕ + Kωz (V )ωz + K∫ (V )∫ ϕ dt , ϕ =ϕ −ϕ are the course error, Ku is the parameter that is automatically adjusted at ship speed change.

In case of course change, autopilot provides ship movement with requested angular velocity, which provides course transition without overcorrection. The algorithm is automatically activated when new course is entered.

Chapter 5. Automatic Vessel Movement Control Systems.

79

Autopilot “Aist”

Set rudder angle is generated according to the following equation:

δ = K ω z (V ) ωz + K∫ (V ) ∫ ωz dt

where ωz = ωz − ω is the angular velocity error. Set angular velocity value is calculated according to formula

ωz = K ϕ (V ) ϕ + Kω z (V ) ϕ& ,

where K ϕ (V ), Kω z (V ) are the autopilot coefficients.

AUTOPILOT “AIST”

“Aist” autopilot diagram is illustrated on Fig. 28.

	Fig. 28. “Aist” Autopilot Diagram.
Set rudder angle is calculated from the following formula:
δ = K ϕ	ϕ + Kωz ωz + K∫ ∫ ϕ dt
where	ϕ =ϕ −ϕ is the course error, K ϕ , Kω z , K∫ are the autopilot coefficients.

TRACE CONTROL UNIT

Fig. 29. Ship Trace Control DiagramChapter 5

80 NAVI-TRAINER 4000. Mathematical Models. Technical Description.

CHAPTER 6

List Of Obligatory Maneuvers

at Mathematical Model

Testing

Copyright Transas Marine Ltd. 2003

Trace Control Unit

Ship motion in calm deep water

•Determine the actual ship velocity at different engine operation condition;

•Determine the steady turning parameters at ahead motion and astern motion (turning ability);

•Determine the steady turning parameters at different thruster operation condition;

•Determine initial turning and course changing ability (maneuver zig-zag);

•Determine stopping ability (active and passive stopping);

•Determine the course keeping ability at autopilot operation.

Ship motion at wind

•Determine the ship motion parameters with stop engine;

•Determine the ship propulsion characteristics and ship maneuvering characteristics (ship speed, balanced rudder angle, average drift angle) determine and wind velocity value when the ship became unsteering;

•Determine the anchored ship motion parameters;

•Determine the ship motion parameters at autopilot operation.

Ship motion at current

•Determine the ship motion parameters at uniform current;

•Determine the ship motion parameters at the alternate current area;

•Determine the anchored ship motion parameters;

•Determine the ship motion parameters at autopilot operation.

Ship rolling at rough sea

•Determine the ship oscillation parameters with stop engine;

•Determine the rolling and ship wave drift at rough sea with stops engine and with “full ahead” engine;

•Determine the ship propulsion characteristics and ship maneuvering characteristics at rough sea;

•Determine the anchored ship motion parameters;

•Determine the ship motion parameters at autopilot operation.

Ship motion at shallow waters

•Determine the ship propulsion characteristics and ship maneuvering characteristics (speed, squat phenomenon, circulation parameters) at uniform shallow water and at shallow water with inclined bottom;

•Determine the characteristics of ship maneuvering with thruster at shallow waters.

Ship motion close to wall or in channel

•Determine the ship motion parameters when she is going parallel to the wall or channel axis at autopilot operation;

•Determine the ship motion parameters when she is steering with thruster while going parallel to the wall or channel axis.

Chapter 6. List Of Obligatory Maneuvers at Mathematical Model Testing.

83

Trace Control Unit

Ship to ship interaction force.

•Determine the balance rudder angle value for both of the ship at meeting and passing.

Ship Motion Parameters in Autopilot Mode

Special Maneuvers.

84 NAVI-TRAINER 4000. Mathematical Models. Technical Description.

References

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