The Dynamic Simulations of the Ship Towing System in Random Waves

2009 ◽  
Vol 46 (02) ◽  
pp. 107-115
Author(s):  
Ming-Chung Fang ◽  
Jiun-Han Ju
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Time History ◽  
Random Waves ◽  
Dynamic Simulations ◽  
Operation Conditions ◽  
Runge Kutta Method ◽  
Course Stability ◽  
Calm Water ◽  
The Stability

In order to investigate the dynamic stability and safety for a ship towing system operated in waves, the present paper develops a nonlinear mathematical model, including seakeeping and maneuvering characteristics, to simulate dynamic behaviors of the towing system in random waves. In addition to waves, wind is also included in the calculations. The time history simulations of six degrees of freedom motion for both the towing and the towed ships are solved by the fourth-order Runge-Kutta method. Because of the waves, the dynamic properties including the towline tension, ship speeds, headings, and distance between two ships are different from those that occur in calm water. The effects of the towpoint's position, towline length, and towing speed on the ship course stability and towline tension are analyzed with respect to different wave and wind headings. In the present study, the suitable operation conditions for the ship towing system are investigated and can be suggested as a reference for improving the stability and safety of towing operation tasks at sea.

Model Tests of a Caisson in Wet Towing for Assessing Resistance and Stability in Calm Water and Waves

2018 ◽  
Vol 140 (5) ◽  
Author(s):  
Chang-Wook Park ◽  
Jeonghwa Seo ◽  
Shin Hyung Rhee
Keyword(s):  
Degrees Of Freedom ◽  
Model Tests ◽  
Added Resistance ◽  
Power Requirement ◽  
Effective Power ◽  
Six Degrees Of Freedom ◽  
Calm Water ◽  
Improved Stability ◽  
Scale Ratio ◽  
The Stability

A series of model tests of a caisson in wet towing were conducted in a towing tank to assess the stability and effective power requirement in calm water and head sea conditions. The scale ratio of the model was 1/30, and the model-length-based Froude number in the tests ranged from 0.061 to 0.122, which is equivalent to 2 and 4 knots in the full scale, respectively. During the towing of the model, tension on the towline and six-degrees-of-freedom (6DOF) motion of the model were measured. Under the calm water condition, the effects of towing speed, draft, and initial trim variation on the towing stability and effective power were investigated. Initial trim improved stability and reduced required towing power. In head seas, effective power and towing stability were changed with the wavelength. It increased as the wavelength became longer, but the added resistance in long waves also stabilized the model with reduced yaw motion.

Stability and Bifurcation of Nonlinear Bearing-Flexible Rotor System with a Single Disk

2010 ◽  
Vol 148-149 ◽  
pp. 141-146
Author(s):  
Di Hei ◽  
Yong Fang Zhang ◽  
Mei Ru Zheng ◽  
Liang Jia ◽  
Yan Jun Lu
Keyword(s):  
Nonlinear Dynamic ◽  
Degrees Of Freedom ◽  
Rotor System ◽  
Dynamic Responses ◽  
Flexible Rotor ◽  
Runge Kutta Method ◽  
Stability And Bifurcation ◽  
Single Disk ◽  
The Stability ◽  
Predictor Corrector

Dynamic model and equation of a nonlinear flexible rotor-bearing system are established based on rotor dynamics. A local iteration method consisting of improved Wilson-θ method, predictor-corrector mechanism and Newton-Raphson method is proposed to calculate nonlinear dynamic responses. By the proposed method, the iterations are only executed on nonlinear degrees of freedom. The proposed method has higher efficiency than Runge-Kutta method, so the proposed method improves calculation efficiency and saves computing cost greatly. Taking the system parameter ‘s’ of flexible rotor as the control parameter, nonlinear dynamic responses of rotor system are obtained by the proposed method. The stability and bifurcation type of periodic responses are determined by Floquet theory and a Poincaré map. The numerical results reveal periodic, quasi-periodic, period-5, jump solutions of rich and complex nonlinear behaviors of the system.

The Influence of Hold-Back Vessels on the Operation of a DP Drilling Rig: Control System and Stability Analysis

2017 ◽  
Author(s):  
Alex S. Huang ◽  
Eduardo Aoun Tannuri ◽  
Asdrubal N. Queiroz Filho ◽  
André S. S. Ianagui ◽  
Douglas G. T. Yuba ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Instability ◽  
Simplified Model ◽  
Fast Time ◽  
Dynamic Simulations ◽  
Positioning Systems ◽  
Time Dynamic ◽  
Drilling Rig ◽  
The Stability ◽  
Drilling Rigs

Certain maritime operations require the accurate positioning of the vessel, and in order to accomplish that DP (dynamic positioning) systems were developed. It combines the information obtained from sensors with the expected dynamic of the ship to better estimate its actual position and the external forces, and with those information the controller allocates the forces among the available actuators so the vessel keeps a desired position. In situations where drift of the vessel could cause great harm (human, material or environmental losses) it might be necessary to provide additional safeguards. One possible solution is to connect an AHTS (anchor handling tug supply) to the original DP vessel, in order to complement the forces generated by its thrusters. However as shown by Jensen (2008) and IMCA M 185 (2012), this connection could actually degrade the position keeping ability of the vessel, nullifying the purpose of improving the safety of the operation. The objective of the present paper is to confirm the hypothesis that the use of hold-back vessels to support DP drilling rigs may degrade the performance of the DP system, causing dynamic instability, and to determine the boundaries of operation under which this phenomenon occurs: sea state, parameters of the vessels and force transmitted by the hold-back vessel. Firstly, an analytical study of the system was done. It was considered a simplified model of two vessels connected by a cable with two degrees of freedom (one for each vessel), since the force applied by a cable is unidirectional. Using control theory, the limiting stiffness of the cable was determined by analyzing the poles of the system. Considering a catenary model for the connecting cable, it was possible to determine the maximum force that could be transmitted between the vessels without the system becoming unstable. The influence of the Kalman Filter in the stability of the system was also studied. Those results were then compared and confirmed with fast time dynamic simulations of the system, in which the influence of different environmental conditions were also added to the analysis. To complete the study, real time simulations were done on a full mission simulator, equipped with the original Kongsberg DP system for the drilling rig. The simplified model showed consistent results, validated by the simulations, demonstrating it can be a useful tool when analyzing the stability of two connected vessels.

Vibration Suppression of a Four-Degrees-of-Freedom Nonlinear Spring Pendulum via Longitudinal and Transverse Absorbers

2011 ◽  
Vol 79 (1) ◽  
Author(s):  
M. Eissa ◽  
M. Kamel ◽  
A. T. El-Sayed
Keyword(s):  
Degrees Of Freedom ◽  
Vibration Suppression ◽  
Perturbation Technique ◽  
Time History ◽  
Multiple Scale ◽  
Threshold Value ◽  
Response Curves ◽  
Pendulum System ◽  
Nonlinear Spring ◽  
The Stability

An investigation into the passive vibration reduction of the nonlinear spring pendulum system, simulating the ship roll motion is presented. This leads to a four-degree-of-freedom (4-DOF) system subjected to multiparametric excitation forces. The two absorbers in the longitudinal and transverse directions are usually designed to control the vibration near the simultaneous subharmonic and internal resonance where system damage is probable. The theoretical results are obtained by applying the multiple scale perturbation technique (MSPT). The stability of the obtained nonlinear solution is studied and solved numerically. The obtained results from the frequency response curves confirmed the numerical results which were obtained using time history. For validity, the numerical solution is compared with the analytical solution. Effectiveness of the absorbers (Ea) are about 13 000 for the first mode (x) and 10 000 for the second mode (ϕ). A threshold value of linear damping coefficient can be used directly for vibration suppression of both vibration modes. Comparison with the available published work is reported.

Stability Properties and Optimization of Multi-Cutter Turning Operations

2013 ◽  
Author(s):  
Marta J. Reith ◽  
Daniel Bachrathy ◽  
Gabor Stepan
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Removal Rate ◽  
Operational Parameters ◽  
Turning Operations ◽  
Stability Properties ◽  
Chatter Vibrations ◽  
Cylindrical Parts ◽  
Important Quality ◽  
The Stability

Multi-cutter turning systems offer huge potential to raise productivity in the manufacturing process of cylindrical parts. The application of a multi-cutter turning head increases cutting performance, material removal rate, since the advance rate is multiplied by the number of cutters involved. Another reason to apply the multi-cutter turning technology is to ensure high feasible accuracy, which is one of the most important quality measures of cutting operations. Furthermore, adverse chatter vibrations caused by the regenerative effect can also be eliminated through the application of optimized multi-cutters. The aim of this study is to investigate the stability properties of multi-cutter turning operations. It is shown that the application of dynamically uncoupled cutters with identical dynamic properties will not improve the stability properties of the system, however, the usage of cutters with different modal parameters — especially finding the optimal ratio of stiffness values of different cutters — will expand stable area in the stability charts, thus ensuring more flexibility and a wider range of stable operational parameters available for the machinist. This study proves that the stability properties of a multi-cutter turning system using dynamically uncoupled cutters are equal to the stability properties of a system using a single cutter with many degrees of freedom.

TO THE STABILITY OF TANK VEHICLES IN THE BRAKE MODE

2019 ◽  
pp. 27-32
Author(s):  
Denys Popelysh ◽  
Yurii Seluk ◽  
Sergyi Tomchuk
Keyword(s):  
Mathematical Model ◽  
Control Systems ◽  
Distribution Systems ◽  
Traffic Accidents ◽  
Road Traffic ◽  
Center Of Mass ◽  
Dynamic Processes ◽  
Course Stability ◽  
The Stability ◽  
Tank Vehicles

This article discusses the question of the possibility of improving the roll stability of partially filled tank vehicles while braking. We consider the dangers associated with partially filled tank vehicles. We give examples of the severe consequences of road traffic accidents that have occurred with tank vehicles carrying dangerous goods. We conducted an analysis of the dynamic processes of fluid flow in the tank and their influence on the basic parameters of the stability of vehicle. When transporting a partially filled tank due to the comparability of the mass of the empty tank with the mass of the fluid being transported, the dynamic qualities of the vehicle change so that they differ significantly from the dynamic characteristics of other vehicles. Due to large displacements of the center of mass of cargo in the tank there are additional loads that act vehicle and significantly reduce the course stability and the drivability. We consider the dynamics of liquid sloshing in moving containers, and give examples of building a mechanical model of an oscillating fluid in a tank and a mathematical model of a vehicle with a tank. We also considered the method of improving the vehicle’s stability, which is based on the prediction of the moment of action and the nature of the dynamic processes of liquid cargo and the implementation of preventive actions by executive mechanisms. Modern automated control systems (anti-lock brake system, anti-slip control systems, stabilization systems, braking forces distribution systems, floor level systems, etc.) use a certain list of elements for collecting necessary parameters and actuators for their work. This gives the ability to influence the course stability properties without interfering with the design of the vehicle only by making changes to the software of these systems. Keywords: tank vehicle, roll stability, mathematical model, vehicle control systems.

A simulation apparatus for the experimental study of batch reactor control methods

1986 ◽  
Vol 51 (6) ◽  
pp. 1259-1267
Author(s):  
Josef Horák ◽  
Petr Beránek
Keyword(s):  
Experimental Study ◽  
Closed Loop ◽  
Dynamic Properties ◽  
Batch Reactor ◽  
Exothermic Reaction ◽  
Electric Heating ◽  
Batch Reactors ◽  
Exchange Area ◽  
The Stability ◽  
Methods Of Control

A simulation apparatus for the experimental study of the methods of control of batch reactors is devised. In this apparatus, the production of heat by an exothermic reaction is replaced by electric heating controlled by a computer in a closed loop; the reactor is cooled with an external cooler whose dynamic properties can be varied while keeping the heat exchange area constant. The effect of the cooler geometry on its dynamic properties is investigated and the effect of the cooler inertia on the stability and safety of the on-off temperature control in the unstable pseudostationary state is examined.

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

scholarly journals Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators

Meccanica ◽  
2021 ◽  
Author(s):  
Dóra Patkó ◽  
Ambrus Zelei
Keyword(s):  
Degrees Of Freedom ◽  
Direct Method ◽  
Tracking Error ◽  
Inverse Kinematic ◽  
Linear Feedback ◽  
Joint Position ◽  
Stability Properties ◽  
Acceleration Level ◽  
Error Elimination ◽  
The Stability

AbstractFor both non-redundant and redundant systems, the inverse kinematics (IK) calculation is a fundamental step in the control algorithm of fully actuated serial manipulators. The tool-center-point (TCP) position is given and the joint coordinates are determined by the IK. Depending on the task, robotic manipulators can be kinematically redundant. That is when the desired task possesses lower dimensions than the degrees-of-freedom of a redundant manipulator. The IK calculation can be implemented numerically in several alternative ways not only in case of the redundant but also in the non-redundant case. We study the stability properties and the feasibility of a tracking error feedback and a direct tracking error elimination approach of the numerical implementation of IK calculation both on velocity and acceleration levels. The feedback approach expresses the joint position increment stepwise based on the local velocity or acceleration of the desired TCP trajectory and linear feedback terms. In the direct error elimination concept, the increment of the joint position is directly given by the approximate error between the desired and the realized TCP position, by assuming constant TCP velocity or acceleration. We investigate the possibility of the implementation of the direct method on acceleration level. The investigated IK methods are unified in a framework that utilizes the idea of the auxiliary input. Our closed form results and numerical case study examples show the stability properties, benefits and disadvantages of the assessed IK implementations.

Sign in / Sign up

Export Citation Format

Share Document