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Simulation General - NG and Simulation of Modelling and Simulation of Marine Surface Vessel Dynamics
Simulation General - NG and Simulation of Modelling and Simulation of Marine Surface Vessel Dynamics
Dr Tristan Perez
Centre for Complex Dynamic Systems and Control (CDSC)
16/09/2007
GNC Toolbox (m-file library and Simulink blocks) Used in T. I. Fossen (2002). Marine Control Systems Hydro (m-file library for hydrodynamic post-processing of hydrodynamic data + Simulink blocks for time time-domain domain simulation of vessel responses in 6 DOF). Part of new book - worked examples - design of ship simulation models based on ship drawings T. Perez and T. I. Fossen (in progress)
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-10 0 10 20 20 - 10 0
Over the past 20 years WAMIT has been licensed to more than 90 industrial and research organizations worldwide worldwide.
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SEAWAY has an add-in for export to VERES *.out + WAMIT panel generation. VERES can import CAD/CAM data (NAPA etc.) + add-in for WAMIT panel generation. WAMIT only reads it panel data in *.gdf form. You can generate these in SEAWAY and VERES or buy a CAD/CAM program like MULTISURF to generate WAMIT geometry files. files
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Frequency-Dependent Hydrodynamic Added Mass, Potential Damping, and Restoring Forces: C Computed t d using: i WAMIT WAMIT, ShipX Shi X (VERES), (VERES) or Octopus SEAWAY Nonlinear Viscous Damping and Current Loads: 9 ITTC quadratic drag formulation/ added resistance in surge g ( (includes current) 9 Nonlinear cross-flow drag in sway and yaw (includes currents) 9 Munk moment in yaw from potential coefficients 9 Higher order nonlinear damping terms in heave heave, roll roll, and pitch (manually added) 9 Maneuvering coefficients (manually added)
Nonlinear Frequency-Dependent Damping in Roll due to Bilge Keels and Anti-Rolling Tanks: Can be computed in ShipX (VERES) and Octopus (SEAWAY) Frequency-Dependent Linear Vi Viscous D Damping i i in DOF DOFs 1 1,2,6: 26 Manually added using exponential decaying functions for skin friction Wave Loads: 1st-order (Froude-Krylov and diffraction) and 2nd-order wave loads (wave drift) ( ) are computed p using g 2D/3D potential theory Wind Loads: Computed using wind coefficient tables
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x 10
4 2 0
3 4 frequency (rad/s)
8 7 6
55
x 10
10
3 2.5 2
55
x 10
10
Peak is due to IKEDA roll damping theory for bilge keels Linear viscous skin friction (ramps)
5 4 3 2 1 1 2 3 4 frequency (rad/s) 5 6
44
8 7 6
66
x 10
10
6 5 4
66
x 10
10
5 4 3 2 1 1 2 3 4 frequency (rad/s) 5 6
3 2 1 0 0 1 2 3 4 frequency (rad/s) 5 6
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VERES
SeaWay
*.re1 - motion RAOs *.re2 - wave drift data *.re7 - added mass, damping, restoring terms *.re8 - force RAOs *.hyd - hydrostatic data etc.
WAMIT
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Extract E t t necessary information i f ti from f the th ASCII fil files generated t db by th the hydrodynamic code Scaling of data Change and translate coordinate frames for hydrodynamic coefficients, RAOs, transfer functions etc. Add viscous effects ( (hydrodynamic y y codes are non-viscous/potential p theory) y) Process data for time-domain simulation
Notice that the MSS vessel structure is independent of the hydrodynamic code! MSS Hydro toolbox commands:
>> veres2vessel.m >> wamit2vessel.m >> seaway2vessel.m
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headings velocities frequencies (A and B matrices) added mass matrix damping matrix spring stiffness matrix rigid-body mass matrix
wave excitation it ti force f amplitudes lit d wave excitation force phases circular wave frequencies
wave motion RAO amplitudes wave motion RAO phases circular wave frequencies
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C q, q q M q q
This model structure can be used as foundation to write the 6 DOF marine vessel equations ti of f motion ti i in a compact t vectorial t i l setting tti (F (Fossen 1994, 1994 2002):
C D g M
- body velocities: u, v, w, p, q, r T - pos position t o and a d Euler ue a angles: g es x, y, z, , , T - M, C and D denote the system inertia, Coriolis and damping matrices - g is a vector of gravitational and buoyancy f forces and d moments t
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Unified Time-Domain Model for Different Speeds and Different Sea States
The Force-Transfer-Functions are computed using hydrodynamic SW e.g. WAMIT, WAMIT VERES or SEAWAY
J C RB Ddn , g env M
Ar B r , C r D r
0 0
For 6 DOF this model will t i ll b typically be represented t d by b 6 + 6 + 90 = 102 ODEs which are computed using hydrodynamic e.g. WAMIT, VERES or SEAWAY These terms are found using experimental results/curve fitting or semi-empirical methods
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Computes C t retardation t d ti functions f ti in i 6 DOF. DOF These Th are fitted fitt d t to a reducedd d order state-space model. Ar B r , 0 0 The state-space model can also be C r D r obtained by using curve-fitting in the frequency domain.
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>> plotABC(vessel,mtrx,i,j,velno) plots added mass, damping, restoring t i element l t i,j i j versus frequency f and d matrix speed >> plotABC(vessel,A,4,4,1) l tABC( l A 4 4 1) added dd d mass A44
>> plotTF(vessel,type,x_axis,velno) plots the motion or force RAO transfer functions versus frequency >> plotTF(vessel,'motion','rads',1) rad/s >> plotTF(vessel, plotTF(vessel 'force' force ,'s' s ,1) 1) period in sec. sec >> plotTF(vessel,'force','hz',1) 1/s
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FINALE
GA Ship lines Digitizer
CAD/CAM
Postprocessing p g of output files in MSS Table of offset file Veres Seaway Panel generator WAMIT
Compute fluid memory effects and wave load transfer functions Generate vessel structure
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