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Research Papers: Offshore Technology

Dynamic Simulation and Control of an Active Roll Reduction System Using Free-Flooding Tanks With Vacuum Pumps

[+] Author and Article Information
Jiafeng Xu

Centre for Research-based Innovation on
Marine Operations (SFI MOVE),
Department of Ocean Operations and
Civil Engineering,
Norwegian University of Science and
Technology, NTNU,
Aalesund NO-6009, Norway
e-mail: jiafeng.xu@ntnu.no

Zhengru Ren

Centre for Research-based Innovation on
Marine Operations (SFI MOVE),
Centre for Autonomous Marine Operations and
Systems (AMOS),
Department of Marine Technology,
Norwegian University of Science and
Technology, NTNU,
Trondheim NO-7491, Norway
e-mail: zhengru.ren@ntnu.no

Yue Li

Centre for Research-based Innovation on
Marine Operations (SFI MOVE),
Department of Ocean Operations and
Civil Engineering,
Norwegian University of Science and
Technology, NTNU,
Aalesund NO-6009, Norway
e-mail: yue.li@ntnu.no

Roger Skjetne

Centre for Research-based Innovation on
Marine Operations (SFI MOVE),
Centre for Autonomous Marine Operations and
Systems (AMOS),
Department of Marine Technology,
Norwegian University of Science and
Technology, NTNU,
Trondheim NO-7491, Norway
e-mail: roger.skjetne@ntnu.no

Karl Henning Halse

Centre for Research-based Innovation on
Marine Operations (SFI MOVE),
Department of Ocean Operations and
Civil Engineering,
Norwegian University of Science and
Technology, NTNU,
Aalesund NO-6009, Norway
e-mail: karl.h.halse@ntnu.no

1Corresponding author.

Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING. Manuscript received October 14, 2017; final manuscript received May 3, 2018; published online June 28, 2018. Assoc. Editor: Marcelo R. Martins.

J. Offshore Mech. Arct. Eng 140(6), 061302 (Jun 28, 2018) (9 pages) Paper No: OMAE-17-1189; doi: 10.1115/1.4040235 History: Received October 14, 2017; Revised May 03, 2018

Ship roll motion is critical for offshore operations due to its lack of damping mechanism. This paper demonstrates a dynamic simulation scheme of an active roll reduction system using free-flooding tanks controlled by vacuum pumps. A tank is installed on each side of a catamaran. Both the tank hatches are opened to the sea and the air chambers of both tanks are connected by an air duct. Vacuum pumps and air valve stabilized the wave-induced roll motion by controlling the water levels in the tanks through a feedback controller. The catamaran is a dynamic model with single degree-of-freedom (DOF) in roll, and its hydrodynamic behavior is calculated using potential theory by SHIPX. The air chambers are modeled as isothermal processes of ideal gas. The behavior of the liquid flow in a tank is simulated by incompressible Reynolds-averaged Navier–Stokes solver with the volume of fluid model, then summarized as a response function for the vessel model. A simplified control plant model for the vacuum pumps is proposed where higher order behaviors are neglected and the external wave-induced load is unknown. A parameter-dependent observer and a backstepping controller are adopted to estimate the external load and to reduce the roll motion. The system stability is proved by Lyapunov's direct method. The performance of the entire system is evaluated in terms of roll reduction capability and power cost. The system is more suitable for roll reduction in low-speed or resting conditions.

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Figures

Grahic Jump Location
Fig. 1

Free-flooding tank of a catamaran

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Fig. 2

Velocity field of the outlet flow, hatch area ratio 20%, and water head 0.9 m

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Fig. 3

Outlet discharge coefficients for different hatch areas and water heads

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Fig. 4

Velocity field of inlet flow process, hatch area ratio 20%, and water head 0.9 m

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Fig. 5

Pressure of inlet flow process, hatch area ratio 20%, and water head 0.9 m

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Fig. 6

Water surface under inlet flow process, hatch area ratio 20%, and water head 0.9 m

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Fig. 7

Two-dimension and 3D discharge coefficients, hatch area ratio 20%, and water head ±0.9 m

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Fig. 8

Block diagram of the four-step backstepping controller

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Fig. 9

Controller performance, (Hs = 3.6 m, Ltank = 15 m, and Tp = 12 s)

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Fig. 10

Controller performance (Hs = 3.6 m, Ltank = 20 m, and Tp = 12 s)

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Fig. 11

Controller performance (Hs = 5 m, Ltank = 30 m, and Tp = 12 s)

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Fig. 12

Pump power output (Hs = 5 m, Ltank = 30 m, and Tp = 12 s)

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Fig. 13

Vessel roll response (Hs = 5 m, Ltank = 30 m, and Tp = 12 s)

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