Simulation of Maneuvering Control During Underway Replenishment

Abstract

In the work presented here, emphasis was placed on performing a sensitivity analysis of the maneuvering control parameters during underway replenishment (UNREP) control simulations. Some approximate nonlinear sea-state excitations acting on the ships' hulls due to a specific irregular sea were added to the simulation model. The mathematical model for both the nonlinear force and moment excitations was developed by using the Volterra series mathematical formalism. The sensitivity studies revealed that measurement errors in the range of 3 to 5% in the maneuvering control variables were acceptable under the simulation condition. The good controllability of both ships when using automatic control during UNREP simulations indicated that automatic control should be considered for collision avoidance during UNREP. The results of the simulation sensitivity control variable analysis will be used for engineering judgments in developing a prototype sensing system for maneuvering control during UNREP.