Simulation of Dynamic Tracking System for Rescue at Sea

2015 ◽  
Author(s):  
Qian Shi ◽  
Shixiao Fu ◽  
Ning Deng ◽  
Jinsong Xu
Keyword(s):  
Time Domain ◽  
Pid Control ◽  
Tracking System ◽  
Wave Loads ◽  
Time Domain Simulation ◽  
Empirical Formulas ◽  
Dynamic Tracking ◽  
Control Target ◽  
The Time Domain ◽  
Multi Body

In this paper, a time domain simulation is established to investigate the feasibility of a PID controller for rescue at sea. In the problem, the endangered ship loses its power and moves freely under environmental forces. The control target for Dynamic Tracking (DT) is to maintain a certain distance between the endangered and rescue ships. The time domain simulation includes multi-body hydrodynamics and Guidance Navigation Control (GNC) system. The multi-body hydrodynamics is modeled with the ship-ship interaction considered. The first and second order wave loads, added mass and damping in frequency domain is calculated using potential theory. Current and wind loads are estimated by empirical formulas summarized from experimental data. As for the design of the GNC system, PID control strategy is applied for the controller and the Kalman Filter for the observer. The time domain simulation in this research is performed in MATLAB.

scholarly journals Convolution-based time-domain simulation for fluidelastic instability in tube arrays

2021 ◽  
Author(s):  
Mingjie Zhang ◽  
Ole Øiseth
Keyword(s):  
Impulse Response ◽  
Response Function ◽  
Time Domain ◽  
Impulse Response Function ◽  
Time Domain Simulation ◽  
Unit Step ◽  
Tube Arrays ◽  
Unit Impulse ◽  
The Time Domain ◽  
Unit Impulse Response

AbstractA convolution-based numerical algorithm is presented for the time-domain analysis of fluidelastic instability in tube arrays, emphasizing in detail some key numerical issues involved in the time-domain simulation. The unit-step and unit-impulse response functions, as two elementary building blocks for the time-domain analysis, are interpreted systematically. An amplitude-dependent unit-step or unit-impulse response function is introduced to capture the main features of the nonlinear fluidelastic (FE) forces. Connections of these elementary functions with conventional frequency-domain unsteady FE force coefficients are discussed to facilitate the identification of model parameters. Due to the lack of a reliable method to directly identify the unit-step or unit-impulse response function, the response function is indirectly identified based on the unsteady FE force coefficients. However, the transient feature captured by the indirectly identified response function may not be consistent with the physical fluid-memory effects. A recursive function is derived for FE force simulation to reduce the computational cost of the convolution operation. Numerical examples of two tube arrays, containing both a single flexible tube and multiple flexible tubes, are provided to validate the fidelity of the time-domain simulation. It is proven that the present time-domain simulation can achieve the same level of accuracy as the frequency-domain simulation based on the unsteady FE force coefficients. The convolution-based time-domain simulation can be used to more accurately evaluate the integrity of tube arrays by considering various nonlinear effects and non-uniform flow conditions. However, the indirectly identified unit-step or unit-impulse response function may fail to capture the underlying discontinuity in the stability curve due to the prespecified expression for fluid-memory effects.

Spar Platform Installation: Tank Flooding Simulation

2014 ◽  
Author(s):  
Abel Medellin ◽  
Michelle Arango-Turner ◽  
Curtis Fuhr
Keyword(s):  
Hydrostatic Pressure ◽  
Modeling And Simulation ◽  
Time Domain ◽  
Time Interval ◽  
Design Phase ◽  
Time Domain Simulation ◽  
Spar Platform ◽  
Software Suite ◽  
Dynamic Time ◽  
The Time Domain

Spars are towed to installation site horizontally and upended by progressive flooding of tanks. It is common practice to perform a dynamic time domain simulation for a self upending classic spar to determine hydrostatic pressures on compartments. There are many different flooding scenarios that create challenges in modeling and simulation during the design phase. In one particular scenario, the spar upending is initiated by opening valves that allow water to flood into the skirt tank. The skirt tank will progressively fill, based on the differential hydrostatic pressure at valves, and cause the spar to upend. Flooding into keel tanks will commence once respective openings become submerged. Several openings from the skirt tank into the keel tanks reduce the differential pressure experienced in the keel tanks during upending. Simulation of the transfer of water between tanks cannot be modeled with ease using the standard tank flooding options available within the software suite. This particular compartment flooding problem is solved by utilizing a scheme in which the time domain simulation was performed iteratively for a specified time interval. For every iteration the amount of water transferred between the skirt and keel tanks are calculated. The amount of water transferred is calculated using a custom modeling technique. The openings from the skirt tank into the keel tanks are not modeled as a typical hole or valve into a compartment, but the location of these holes are modeled. The amount of water flowing through these openings is determined by the water level in the skirt tank, friction through the opening, and pressure inside the keel tanks. This paper will describe in detail the scheme developed, the tank modeling requirements, and the results obtained.

Research on the Static and Dynamics Characteristics of Soft Yoke Mooring System Based on Multi-Rigid Body Interaction

2020 ◽  
Author(s):  
Hongwei Wang ◽  
Zizhao Zhang ◽  
Gang Ma ◽  
Rongtai Ma ◽  
Jie Yang
Keyword(s):  
Time Domain ◽  
Rigid Bodies ◽  
Coupled Analysis ◽  
Mooring System ◽  
Accurate Analysis ◽  
Restoring Force ◽  
Stiffness Characteristics ◽  
The Time Domain ◽  
Multi Body ◽  
Good Agreement

Abstract Select the common mooring system-soft yoke mooring system as the research object. The soft yoke mooring system is regarded as a structure composed of multiple rigid bodies, and the theoretical analysis of multi-body dynamics is used to discuss the interaction of multi-rigid bodies. The classical HYSY113 FPSO is selected as an example, for the soft yoke mooring system, the stiffness characteristics and static restoring force curved compared with those of software OrcaFlex, and they are in good agreement, which verify the reliability of the formula derived, and it is a prerequisite for the accurate simulations in further steps. Coupled analysis to the whole system in time domain is also carried out both in OrcaFlex and AQWA, and the representative response of the FPSO under different environmental conditions is compared, the results are consistent well with each other. It is a good reference for the future study in this field. Good static characteristics are a prerequisite for accurate analysis of time-domain motion. By comparing the results in the time domain, it is found that under the same working conditions, the analysis results calculated by different commercial software (AQWA and OrcaFlex) may be different. We need to perform design analysis based on the characteristics of the software.

scholarly journals An Experimental Data-Driven Model of a Micro-Cogeneration Installation for Time-Domain Simulation and System Analysis

Energies ◽  
2020 ◽  
Vol 13 (11) ◽  
pp. 2759 ◽  
Author(s):  
Wojciech Uchman ◽  
Janusz Kotowicz ◽  
Leszek Remiorz
Keyword(s):  
Time Domain ◽  
Electricity Generation ◽  
System Analysis ◽  
Data Driven ◽  
Maximum Efficiency ◽  
Time Domain Simulation ◽  
Term Operation ◽  
Operating Modes ◽  
Laboratory Setup ◽  
The Time Domain

In this article, an investigation of a free-piston Stirling engine-based micro-cogeneration (μCHP) unit is presented. This work is a step towards making the system calculations more reliable, based on a data-driven model, which enables the time-domain simulation of the μCHP behavior. A laboratory setup was developed that allowed for the measurement of a micro-cogeneration unit during long-term operation with a variable thermal load. The maximum efficiency of electricity generation was equal to 13.2% and the highest overall efficiency was equal to 95.7%. A model of the analyzed μCHP system was developed and validated. The simulation model was based on the device’s characteristics that were obtained from the measurements; it enables time-domain calculations, taking into account the different operating modes of the device. The validation of the system showed satisfactory compliance of the model with the measurements: for the period modeled of 24 h, the error in the heat generation fluctuated in the range 0.31–4.50%, the error in the electricity generation was in the range 2.48–4.70%, the error in the natural gas consumption was in the range 0.26–4.59%, and the engine’s runtime error was in the range 0.14–8.58%. The modelling process is easily applicable to other energy systems for detailed analysis.

The Effects of Inner-Liquid Motion on LNG Vessel Responses

2010 ◽  
Vol 132 (2) ◽  
Author(s):  
S. J. Lee ◽  
M. H. Kim
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Surface Profile ◽  
Ship Motion ◽  
Liquid Sloshing ◽  
Diffraction Radiation ◽  
Time Domain Simulation ◽  
Coupling Effects ◽  
The Time Domain ◽  
Vessel Motion

The coupling and interactions between ship motion and inner-tank sloshing are investigated by a potential-viscous hybrid method in the time domain. For the time-domain simulation of vessel motion, the hydrodynamic coefficients and wave forces are obtained by a potential-theory-based 3D diffraction/radiation panel program in the frequency domain. Then, the corresponding simulations of motions in the time domain are carried out using the convolution-integral method. The liquid sloshing in a tank is simulated in the time domain by a Navier–Stokes solver. A finite difference method with SURF scheme assuming the single-valued free-surface profile is applied for the direct simulation of liquid sloshing. The computed sloshing forces and moments are then applied as external excitations to the ship motion. The calculated ship motion is in turn inputted as the excitation for liquid sloshing, which is repeated for the ensuing time steps. For comparison, we independently developed a 3D panel program for linear inner-fluid motions, and it is coupled with the vessel-motion program in the frequency domain. The developed computer programs are applied to a barge-type floating production storage and offloading (FPSO) hull equipped with two partially filled tanks. The time-domain simulation results show reasonably good agreement when compared with Maritime Research Institute Netherlands (MARIN’s) experimental results. The frequency-domain results qualitatively reproduce the trend of coupling effects, but the peaks are in general overpredicted. It is seen that the coupling effects on roll motions appreciably change with filling level. The most pronounced coupling effects on roll motions are the shift or split of peak frequencies. The pitch motions are much less influenced by the inner-fluid motion compared with roll motions.

Time-Domain Dynamic Analysis for Dynamic Positioning System of Deepwater Semi-Submersible

2012 ◽  
Vol 204-208 ◽  
pp. 4518-4522 ◽  
Author(s):  
Li Ping Sun ◽  
Shu Long Cai ◽  
Jing Chen
Keyword(s):  
Dynamic Analysis ◽  
Deep Water ◽  
Time Domain ◽  
Pid Control ◽  
Oil And Gas ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Dynamic Positioning System ◽  
The Time Domain ◽  
Thrust Allocation

Semi-submersible plays an important role in ocean oil and gas exploitation. This paper carried out some researches for the dynamic positioning system (DPS) of a deep water semi- submersible. Mathematic modal was made, and a special program was created with M-language for the time-domain dynamic analysis of the dynamic positioning system of the deep water semi-submersible, on basis of the mathematic modal. PID control strategy, kalman filtering theory and optimal thrust allocation method were used in the analysis. Simulation result indicated the DPS of this platform is safe and efficient.

scholarly journals Numerical study on deployment of subsea template using coupled and uncoupled model

2021 ◽  
Vol 1201 (1) ◽  
pp. 012020
Author(s):  
N O Hauge ◽  
L Li
Keyword(s):  
Time Domain ◽  
Numerical Study ◽  
Coupled Model ◽  
Simulation Software ◽  
Time Domain Simulation ◽  
Coupled Models ◽  
Sea State ◽  
The Time Domain ◽  
Vessel Motion ◽  
Simulation Time

Abstract This study compares deployment of a subsea template simulated as a coupled model and as an uncoupled model in the time domain simulation software Orcaflex. Defining vessel motion as prescribed simplifies the model and will therefore also decrease the simulation time. Models with predefined vessel motions are called uncoupled models. Vessel motion in a coupled model is a continuously calculated reaction to the forces acting on the vessel. Some software might struggle to run coupled models. The deployment simulations are narrowed down to focus on the incident where the template crosses the splash zone when lifted with an offshore construction vessel. Noticeable differences between the allowable sea state results are observed from the two different simulation methods. Running the time domain simulation as an uncoupled model gives lower allowable sea states than the results from the coupled time domain simulation model.

Computation of Wave-Induced Drift Forces Introduced by Displaced Position of Compliant Offshore Platforms

1992 ◽  
Vol 114 (3) ◽  
pp. 175-184 ◽  
Author(s):  
Y. Li ◽  
A. Kareem
Keyword(s):  
Time Domain ◽  
Phase Relationship ◽  
Time Domain Analysis ◽  
Domain Analysis ◽  
Offshore Structures ◽  
Time Dependent ◽  
Wave Loads ◽  
Nonlinear Feedback ◽  
The Time Domain ◽  
Drift Forces

The wave forces computed at the displaced position of offshore structures may introduce additional drift forces. This contribution is particularly significant for compliant offshore structures that are configured by design to experience large excursions under the environmental load effects, e.g., tension leg platform. In a random sea environment, this feature can be included in the time domain analysis by synthesizing drag and diffraction forces through a summation of a large number of harmonics with an appropriate phase relationship that reflects the platform displaced position. This approach is not only limited to the time domain analysis, but the superposition of a large number of trigonometric terms in such an analysis requires a considerable computational effort. This paper presents a computationally efficient procedure in both the time and frequency domains that permits inclusion of the time-dependent drift forces, introduced by the platform displacement, in terms of linear and nonlinear feedback contributions. These time-dependent feedback forces are expressed in terms of the applied wave loads by linear and quadratic transformations. It is demonstrated that the results obtained by this approach exhibit good agreement with the procedure based on the summation of trigonometric functions.

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