Development and Validation of an Operational Fast Time Ship Manoeuvring Solver to Increase Navigation Efficiency in Horizontally Restricted Waterways

M. F. Kazerooni, M. Rahimian, Marcus Tree, T. Womersley, S. Mortensen, Bugge Jensen
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Abstract

: Growth of demand for containerized cargo shipping has put more ports into pressure to accommodate larger vessels. Considering the limitations on dimensions of navigation channels, this is not feasible unless aiming for significant capital dredging or alternatively creating high precision predictions of vessel motions subjected to environmental forcing and interaction with shallow and restricte d waterway. NCOS ONLINE (Nonlinear Channel Optimisation Simulator) is a state of the art navigation support tool which combines DHI’s high level forecast of environmental conditions with mathematical model of ship motions to add an extra level of accuracy in predicting the under-keel clearance and vessel swept path to boost the efficiency of navigation and pilotage within restricted channels. NCOS Manoeuvring Module utilizes an autopilot scheme based on PID (Proportional / Integral / Derivative) controller and Line of Sight Algorithm to FORCE Technology’s SimFlex4 manoeuvring solver for prediction of manoeuvring ship swept path and response, which will effectively bring the accuracy of real time full bridge simulator to fast time operation support tool. In this paper, the result of mathematical model is validated against fullscale measurements of containership transits through Port of Auckland Navigation channel by comparing pilot commands, leeway drift and swept path through output of portable p ilotage unit. According to the results the model is found promising to predict the behaviour of human pilots with precision required in operational use. Finally, the swept path and manoeuvring performance of a sample transit is assessed on different enviro nmental conditions and tide stages to evaluate the safe transit windows in operation.
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提高水平受限航道航行效率的可操作快速船舶操纵求解器的开发与验证
集装箱货运需求的增长给更多港口带来了容纳大型船只的压力。考虑到航道尺寸的限制,这是不可行的,除非以重大的资本疏浚为目标,或者创建受环境强迫和与浅水和受限水道相互作用的船舶运动的高精度预测。NCOS ONLINE(非线性航道优化模拟器)是一种先进的导航支持工具,它结合了DHI对环境条件的高水平预测和船舶运动的数学模型,在预测龙骨下间隙和船舶扫过路径时增加了额外的精度,以提高在受限航道内航行和引航的效率。NCOS操纵模块采用基于PID(比例/积分/导数)控制器和视线算法的自动驾驶方案,对FORCE Technology公司的SimFlex4操纵求解器进行操纵船舶扫掠路径和响应预测,将有效地将实时全桥模拟器的精度提升到快时操作支持工具。本文将数学模型的结果与集装箱船通过奥克兰港航道的全尺寸测量结果进行了验证,通过比较引航命令、浮动漂移和扫描路径通过便携式功率单元的输出。结果表明,该模型能够准确地预测人类飞行员在实际操作中的行为。最后,在不同的环境条件和潮汐阶段下,对样品过境的扫掠路径和操纵性能进行了评估,以评估运行中的安全过境窗口。
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来源期刊
CiteScore
1.40
自引率
16.70%
发文量
22
审稿时长
40 weeks
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