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This thesis treats the motion of a small vessel described in six degrees of freedom. There are three are translation equations of motion and the other three are equations of angular motion. The aim is to develop a model with a sound mathematical base and use experimentation to find forces to aid the completion of the model, with the intention of use in an auto pilot, by the following means: 1) By solving the equations of motion for large movements, with given sea and wind conditions and also with given control forces and moments. 2) Deduce the forces and moments being applied from the sea etc., from the motion of the vessel. Thus to enable the auto pilot to deduce the required additional forces and the forces and moments applied by the water and wind and the control devices, such as the propeller and rudder. These two aims are achieved by analysing the transformation of axes using the standard Euler equations. However, as Euler's angles are ordered and therefore cannot cope with large angles which are present in the motion of a small vessel, another set of angles relating to axes and planes have been deduced. These are then rotated and the set of three measured angles are found in terms of the Euler angles. This is the main pan of original work in the thesis. The rest of the thesis is then based upon these set of measured angles and a general case mathematical model is deduced using them. This is proceeded by a functional analysis of the vessel's motion, environment and control action's. After that the general case model is theoretically validated by analysing the work done by ARJM Lloyd and showing how his work is a specific case of the general case. Experimental work performed on a small vessel is then used in the building of a mathematical model for the specific case of a small vessel, using a set of measured angles.

Mechanical stresses placed on ferromagnetic materials while under the influence of a magnetic field are known to cause changes to the permanent magnetization of the material. Modeling this phenomenon is vital to the safety of ocean faring ships. In this thesis, a quasi-strip theory method of computing the nonlinear wave induced motion of a ship is developed, and the fluid pressure on the surface of the hull is used to determine the mechanical stresses. An existing magnetostatic volume integral equation code is used to evaluate the effects of the ship motion and hull stresses. The resulting changes in the magnetic field for various ship forms are presented to demonstrate the effects of given sea states.

Accurate ship-motion prediction is important because it is directly related to the design, control, and economic operation of ships. Many methods are available for studying and predicting ship motions, including time-domain, strip-theory, and system-identification-based predictions. Time-domain and strip-theory predictions suffer from several physical and computational limitations. In this work, we use system-identification techniques to predict ship motions. We establish an identification methodology that can handle general finite-degree-of-freedom (FDOF) models of ship motions. To establish this methodology, we derive the correct form of the equations of motion. This form contains all relevant linear and nonlinear terms. Moreover, it explicitly specifies the dependence of the linear and nonlinear parameters on the forward speed. The energy-formulation approach is utilized to obtain full nonlinear ship-motion equations. The advantages of using this formulation are that self-sustained motions are not allowed and the dependence of the parameters on the forward speed is derived explicitly. The data required for the identification techniques are generated using the Large Amplitude Motions Program (LAMP) developed by the Science Applications International Corporation (SAIC). The ship studied in this work is a Series 60 ship, which is a military cargo ship. LAMP data for different sea states and forward speeds are used to identify and predict the ship motions. For linear parametric identification, we use the Eigensystem Realization Algorithm (ERA) to determine the coefficients in the linearly coupled equations and the effects of the forward speed on these coefficients. For linear nonparametric identification, we present a new analysis technique, namely, the circular-hyperbolic decomposition (CHD), which avoids the leakage effects associated with the discrete Fourier transform (DFT). The CHD is then utilized to determine transfer functions and response amplitude operators (RAOs). For nonlinear parametric identification, we present a methodology that is a combination of perturbation techniques and higher-order spectral moments. We apply this methodology to identify the nonlinear parameters that cause parametric roll resonance. The level of accuracy of the models and the parameter estimates are determined by validations of the predicted ship motions with the LAMP data. / Ph. D.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: The successful development of a three degree of freedom motion simulation platform, capable of simulating a vessel’s flight deck at sea, is presented. The motion simulation platform was developed to practically simulate and test an unmanned aerial vehicle’s capability of landing on a moving vessel, before practically being demonstrated on an actual vessel. All aspects of the motion simulation platform’s development are considered, from the conceptual design to its practical implementation. The mechanical design and construction of a pneumatic motion simulation platform, as well as the electronics and software to enable the operation of this motion simulation platform, are presented. Mathematical models of the pneumatic process and platform orientation are developed. A controller architecture capable of regulating the pneumatic process, resulted in the successful control of the motion simulation platform. Practical motion simulation results of one of the South African Navy Patrol Corvettes, demonstrate the motion simulation platform’s success. The successful development of the motion simulation platform can largely be attributed to extensive research, planning and evaluation of the different development phases. / AFRIKAANSE OPSOMMING: In hierdie studie word die suksesvolle ontwikkeling van ’n drie-grade-van-vryheid bewegingsimulasieplatform, wat in staat is daartoe om ’n skip se vliegdek ter see te simuleer, aangebied. Die bewegingsimulasieplatform is ontwikkel om ’n onbemande lugvaartuig se vermoë om op ’n bewegende skip te land, te simuleer en te toets, voor dit op ’n werklike skip gedemonstreer word. Alle aspekte van die ontwikkeling van die bewegingsimulasieplatform word in ag geneem – van die konsepontwerp tot die praktiese implementering daarvan. Die meganiese ontwerp en konstruksie van ’n pneumatiese bewegingsimulasieplatform word bespreek, sowel as die elektronika en programmatuur wat die werking van hierdie bewegingsimulasieplatform bemoontlik. Wiskundige modelle van die pneumatiese proses en platformoriëntering word ontwikkel. ’n Beheerderargitektuur wat in staat is daartoe om die pneumatiese proses te reguleer, lei tot die suksesvolle beheer van die bewegingsimulasieplatform. Praktiese resultate van die bewegingsimulering van een van die Suid-Afrikaanse Vloot se patrolliekorvette wys daarop dat die bewegingsimulasieplatform wel suksesvol is. Die geslaagde ontwikkeling van die bewegingsimulasieplatform kan grootliks toegeskryf word aan omvangryke navorsing, beplanning en evaluering van die onderskeie ontwikkelingsfases.

Sea state is a subjective quantity whose accuracy depends on an observer’s ability to translate local wind waves into numerical scales. It provides an analytical tool for estimating the impact of the sea on data quality and operational safety. Tasks dependent on the characteristics of local sea surface conditions often require accurate and immediate assessment. An attempt to automate sea state classification using eleven years of ship motion and sea state observation data is made using parametric modeling of distribution-based confidence and tolerance intervals and a probabilistic model using sea state frequencies. Models utilizing distribution intervals are not able to exactly convert ship motion data into various sea states scales with significant accuracy. Model averages compared to sea state tolerances do provide improved statistical accuracy but the results are limited to trend assessment. The probabilistic model provides better prediction potential than interval-based models, but is spatially and temporally dependent.

全文ファイル差し替え（2021-06-07） / 京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第20675号 / 工博第4372号 / 新制||工||1680(附属図書館) / 京都大学大学院工学研究科社会基盤工学専攻 / (主査)教授 平石 哲也, 准教授 馬場 康之, 准教授 森 信人 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

The goal of this thesis is to develop nontraditional strategies to provide motion control for different engineering applications. We focus our attention on three topics: 1) roll reduction of ships in a seaway; 2) response reduction of buildings under seismic excitations; 3) new training strategies and neural-network configurations. The first topic of this research is based on a multidisciplinary simulation, which includes ship-motion simulation by means of a numerical model called LAMP, the modeling of fins and computation of the hydrodynamic forces produced by them, and a neural-network/fuzzy-logic controller. LAMP is based on a source-panel method to model the flowfield around the ship, whereas the fins are modeled by a general unsteady vortex-lattice method. The ship is considered to be a rigid body and the complete equations of motion are integrated numerically in the time domain. The motion of the ship and the complete flowfield are calculated simultaneously and interactively. The neural-network/fuzzy-logic controller can be progressively trained. The second topic is the development of a neural-network-based approach for the control of seismic structural response. To this end, a two-dimensional linear model and a hysteretic model of a multistory building are used. To control the response of the structure a tuned mass damper is located on the roof of the building. Such devices provide a good passive reduction. Once the mass damper is properly tuned, active control is added to improve the already efficient passive controller. This is achieved by means of a neural network. As part of the last topic, two new flexible and expeditious training strategies are developed to train the neural-network and fuzzy-logic controllers for both naval and civil engineering applications. The first strategy is based on a load-matching procedure, which seeks to adjust the controller in order to counteract the loads (forces and moments) which generate the motion that is to be reduced. A second training strategy provides training by means of an adaptive gradient search. This technique provides a wide flexibility in defining the parameters to be optimized. Also a novel neural-network approach called modal neural network is designed as a suitable controller for multiple-input multiple output control systems (MIMO). / Ph. D.

A planing catamaran is a high-powered, twin-hull water craft that develops the lift which supports its weight, primarily through hydrodynamic water pressure. Presently, there is increasing demand to further develop the catamaran's planing and seakeeping characteristics so that it is more effectively applied in today's modern military and pleasure craft, and offshore industry supply vessels. Over the course of the past ten years, Vorus (1994,1996,1998,2000) has systematically conducted a series of research works on planing craft hydrodynamics. Based on Vorus' planing monohull theory, he has developed and implemented a first order nonlinear model for planing catamarans, embodied in the computer code CatSea. This model is currently applied in planing catamaran design. However, due to the greater complexity of the catamaran flow physics relative to the monohull, Vorus's (first order) catamaran model implemented some important approximations and simplifications which were not considered necessary in the monohull work. The research of this thesis is for relieving the initially implemented approximations in Vorus's first order planing catamaran theory, and further developing and extending the theory and application beyond that currently in use in CatSea. This has been achieved through a detailed theoretical analysis, algorithm development, and careful coding. The research result is a new, complete second order nonlinear hydrodynamic theory for planing catamarans. A detailed numerical comparison of the Vorus's first order nonlinear theory and the second order nonlinear theory developed here is carried out. The second order nonlinear theory and algorithms have been incorporated into a new catamaran design code (NewCat). A detailed mathematical formulation of the base first order CatSea theory, followed by the extended second order theory, is completely documented in this thesis.