Fishtailing Instabilities in Emergency Towing of Disabled Tankers
Kamlesh S. Varyani, Nigel D.P. Barltrop and Xuan P. Pham Department of Naval Architecture and Marine Engineering, Universities of Glasgow and Strathclyde, Glasgow, Scotland
ABSTRACT R Non-dimensionalised aft towing point on tug
' ri Non-dimensionalised angular velocity SAFETOW (Strategic Aid For Escort and Salvage Tugs at Work) is a Ti Tension of the towline between the vessels European project developed to provide masters of disabled vessels and masters of salvage and escort tugs with support tools which will enable TS' Non-dimensionalised thrust when going straight them to make decisions in real-time with the best available information. U,Ui Velocity This paper focuses on predicting the dynamics of a tug towing a XE,YE,NE Component of environmental forces disabled tanker. Of interest are the course stability, trajectories and time XH,YH,NH Component of hydrodynamic forces on Hull histories of trajectory parameters such as heading and drift angles. The XP,YP,NP Component of Propeller forces calculation takes into account wind effects (using new generic XR,YR,NR Component of Rudder forces equations), tow point, and towline length. Different fishtailing XW,YW,NW Component of Wind forces instabilities are also investigated, i.e. when tug and disabled tanker are Xi,Yi,Ni Sum of the x-axis components of the hydrodynamic and both moving, and in bad weather conditions when tug is positionally external forces/moments fixed and the disabled tanker is weathervaning. For trajectory αi Relative wind direction of i-th vessel calculations, the velocity of the tug and the disabled tanker can be βi Drift angle of i-th vessel either constant or allowed to vary with respect to time. The authors also δi Rudder angle of i-th vessel detail the new generic equations for estimating second order mean εi Angle made by towline with centreline of towed wave drift and current generic equations for current forces/moment. disabled vessel γi Flow straightening coefficient of i-th vessel KEY WORDS: Towing dynamics, course stability, trajectory, wind ρ’,ρ Density of air/sea water force, current force, second order mean wave drift force. θi Heading angle of i-th vessel NOMENCLATURE θii Angle which the towed vessel axis made with the x-axis of co-ordinate system fixed in space ARi Rudder area of i-th vessel Afi,ASi Lateral/Transverse projected area over the draft water line INTRODUCTION Bi Breadth of i-th vessel Li Length of i-th vessel Between January 1992 and March 1999, a total of 593 merchant ships Cb Block coefficient were lost. In many of these cases, if safe towing had been available, Ci Rudder coefficient there is quite a good probability that the accident would have been CWiN Yaw wind coefficient avoided. For instance, in the AMOCO CADIZ accident, if action had CWiY Sway wind coefficient been taken early enough to control the drift, this would have prevented di Draught of i-th vessel the grounding of the ship and the spilling of 227,000 tons of crude oil, with a cost of about 282 million euros. I 'Zi Non-dimensionalised added moment of inertia of mass Kij Autopilot coefficients Safety, reliability and economy are the main considerations in the Li Ship length of i-th vessel design of salvage towing. In calm sea conditions, the tow rope force is Mi Mass of i-th vessel a combination of the resistance of the vessel and forces associated with M 'Xi , M 'Yi Non-dimensionalised added mass of i-th vessel in x & y any motion oscillations. Forces typically become larger in the presence direction of wind, waves and current. In this paper, the authors concentrate on towing the tanker from its bow. N 'ri , Yri' Non-dimensionalised manoeuvring derivatives N β' i , Yβ' i Non-dimensionalised manoeuvring derivatives In recent past, Kijima and Wada (1983), Kijima and Varyani (1985), Varyani (1999), Kijima et al. (2000) and Kishimoto and Kijima (2002) P Non-dimensionalised forward towing point on tanker have showed the mathematical modelling for towing a disabled ship. Q Non-dimensionalised towline length