Multi-innovation auto-constructed least squares identification for 4 DOF ship manoeuvring modelling with full-scale trial data

2015 ◽  
Vol 58 ◽  
pp. 186-195 ◽  
Author(s):  
Guoqing Zhang ◽  
Xianku Zhang ◽  
Hongshuai Pang
Author(s):  
F Belanger ◽  
D Millan ◽  
X Cyril

Computer simulation models play a vital role in the assessment of a ship’s autopilot design. A well-tuned autopilot will contribute to reducing rudder activity, thereby minimizing wear on the actuation plant and also generally reducing fuel consumption. The equations that describe the ship motion dynamics contain a large number of hydrodynamic coefficients that must be calculated as accurately as possible to justify the use of a simulation model and its relevance to predicting the ship manoeuvring characteristics. Proper prediction of the ship performance is an essential pre-requisite in the process of tuning the autopilot. The hydrodynamic coefficients can be calculated by using theoretical methods or by carrying out experiments on the actual ship or on a scaled model of the ship. System Identification (SI) is an experiment-based approach and in this paper the authors present an algorithm that can estimate the coefficients with great accuracy. These coefficients can classically be obtained in a towing tank using a captive model, and with a planar motion mechanism and a rotating arm. Generally, these systems are costly and entail expensive trials programs, and SI methods have been developed in an effort to obviate some of those problems and limitations. They typically process ship manoeuvring data obtained from a free-running scaled model or full-scale trials. While similar to a surface ship, the motion dynamics of a submarine introduce additional challenges for SI methods. This is because the submarine manoeuvres in “three dimensions”, which adds complexity and more hydrodynamic coefficients to the equations. The standard submarine simulation model, also referred to as the Gertler and Hagen equations, incorporates over 120 coefficients. To calculated these coefficients, the SI algorithm uses a Square-Root Unscented Kalman filter (SR-UKF). One of its appealing features is that it calculates all the coefficients by processing data from a single submarine manoeuvre that has a repeating sinusoidal pattern in both depth and course. The manoeuvre can be performed in a towing tank by a free-running scaled model of the submarine, or it can be performed at sea on the full-scale submarine as part of the sea trials schedule.


Author(s):  
Sergey Gavrilin ◽  
Sverre Steen

Increasingly complex marine operations dictate higher need for precise and reliable modelling. For the last decades several different approaches to modelling of ship manoeuvring were developed, including scaled model testing, numerical and empirical methods. Increasingly, time-domain simulation models for ship manoeuvring are developed and used for training and planning of marine operations. Especially when using the simulation models to plan operations, it is essential that the simulation model is properly validated. There is a need for better and more standardized validation methods for such simulation models. A key issue is the uncertainty of the data used in the validation. Typically, the validation will be against full scale trials results. In the study reported in this paper it was found by inspection of repeated tests results that even under relatively calm environmental conditions outcomes of sea trials can be highly uncertain. However, it is very expensive to investigate uncertainty of each type of trial experimentally. Therefore it can be very beneficial to estimate it by means of a simulation model. This paper presents results of analysis of full scale turning circle trials of research vessel “Gunnerus”. Turning circle trials with 20° and 35° rudder angle executed both to starboard and port sides are analyzed. Experimental uncertainty analysis is performed. Effectiveness of IMO correction procedure is discussed. Also paper describes a method for determining uncertainty of trial results due to environmental effects by means of simulation model and compares them with experimental uncertainty. The method is based on Monte-Carlo techniques.


Author(s):  
A. B. Blyakhman ◽  
S. N. Matyugin ◽  
A. G. Prokhorov

We consider the possibility of employing a surveillance radar station to recognise ballistic targets (projectiles) and locate points of aim. We present the results of full-scale live-fire trial data analysis and a method for implementing ballistic target (projectile) recognition by radar stations of the surveillance type. We developed a mathematical model, an algorithm for ballistic target recognition, as well as algorithms and software to locate the point of aim


Author(s):  
Jeffrey T. Fong ◽  
N. Alan Heckert ◽  
James J. Filliben ◽  
Marvin J. Cohn

Uncertainty in modeling the creep rupture life of a full-scale component using experimental data at microscopic (Level 1), specimen (Level 2), and full-size (Level 3) scales, is addressed by applying statistical theory of prediction intervals, and that of tolerance intervals based on the concept of coverage, p. Using a nonlinear least squares fit algorithm and the physical assumption that the one-sided Lower Tolerance Limit ( LTL ), at 95 % confidence level, of the creep rupture life, i.e., the minimum time-to-failure, minTf, of a full-scale component, cannot be negative as the lack or “Failure” of coverage ( Fp ), defined as 1 - p, approaches zero, we develop a new creep rupture life model, where the minimum time-to-failure, minTf, at extremely low “Failure” of coverage, Fp, can be estimated. Since the concept of coverage is closely related to that of an inspection strategy, and if one assumes that the predominent cause of failure of a full-size component is due to the “Failure” of inspection or coverage, it is reasonable to equate the quantity, Fp, to a Failure Probability, FP, thereby leading to a new approach of estimating the frequency of in-service inspection of a full-size component. To illustrate this approach, we include a numerical example using the published creep rupture time data of an API 579-1/ASME FFS-1 Grade 91 steel at 571.1 C (1060 F) (API-STD-530, 2007), and a linear least squares fit to generate the necessary uncertainties for ultimately performing a dynamic risk analysis, where a graphical plot of an estimate of risk with uncertainty vs. a predicted most likely date of a high consequence failure event due to creep rupture becomes available for a risk-informed inspection strategy associated with an energy-generation or chemical processing plant equipment.


Author(s):  
Vahid Hassani ◽  
Andrew Ross ◽  
Ørjan Selvik ◽  
Dariusz Fathi ◽  
Florian Sprenger ◽  
...  

A research vessel (RV) plays an important role in many fields such as oceanography, fisheries and polar research, hydrographic surveys, and oil exploration. It also has a unique function in maritime research and developments. Full-scale sea trials that require vessels, are usually extremely expensive; however, research vessels are more available than other types of ship. This paper presents the results of a time-domain simulation model of R/V Gunnerus, the research vessel of the Norwegian University of Science and Technology (NTNU), using MARINTEK’s vessel simulator (VeSim). VeSim is a time-domain simulator which solves dynamic equations of vessel motions and takes care of seakeeping and manoeuvring problems simultaneously. In addition to a set of captive and PMM tests on a scale model of Gunnerus, full-scale sea trials are carried out in both calm and harsh weather and the proposed simulation model is validated against sea trial data.


1983 ◽  
Vol 20 (01) ◽  
pp. 35-52
Author(s):  
Everett L. Woo ◽  
Gabor Karafiath ◽  
Gary Borda

Standardization trials were conducted on USS Oliver Hazard Perry (FFG-7) in May 1978. From the results of the trial data and the post-trial model correlation experiments which simulated the trial conditions, the powering correlation allowance of 0.00045 was obtained for the FFG-7. It should be noted that the pretrial model tests used the design correlation allowance of 0.0005 to predict full-scale powering performance. In addition, the powering performance was predicted using the "1978 ITTC Performance Prediction Method for Single Screw Ships."


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