Testing of Ships

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Ship Manoeuvrability
- Theory and Assessment- 1
- Theory and Assessment -
Toshio Iseki
Tokyo University of Marine
Science and Technology
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IMO (International Maritime Organization)
MSC (Maritime Safety Committee)
Interim Standards for Ship Manoeuvrability
(IMO Resolution A.751(18), 1993)
Standards for ship manoeuvrability
(IMO Resolution MSC.137(76), 2002)
Exclusion of the ships that were built with very
poor manoeuvring qualities.
(causes of marine casualties & pollution)
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Contents
Basic theory of ship manoeuvrability
Manoeuvring equation of motion
Directional stability
Manoeuvrability indices
Assessment of ship manoeuvrability
Graphical analysis of Zig-zag test
Real-time identification of ship
manoeuvrability (IIR filter)
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Co-ordinate systems
O Y
X
x
G
U
T
u
v
r
T
j v i u
T T T
!
tor locity vec Anguler ve :
angle Heading :
dt
d
r
U
U
!
T
axes y and x the along ors Unit vect : , j i
T T
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Time derivative of a rotating co-ordinate system
product Vector :
,
rotation for or Unit vect :
v
! v ! v i j k j i k
k
T T
T
T T
T
T
j
dt
d
i k
dt
d
i r
dt
i d
T T
T
T
T
T
U U
! v ! v !
i
dt
d
j k
dt
d
j r
dt
j d
T T
T
T
T
T
U U
! v ! v !
j
dt
d
u
dt
dv
i
dt
d
v
dt
du
dt
j d
v j
dt
dv
dt
i d
u i
dt
du
dt
U d
T T
T
T
T
T
T
!
!
U U
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Equations of motion
!
!
!
N r I
Y ur v m
X vr u m
zz
) (
) (
moment and forces External : , ,
inartia of Moment :
ship the of Mass :
N Y X
I
m
zz
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Definition of external forces
External forces
Acting on the upper part from the water line
Wind force, etc.
Acting on the lower part from the water line
Hydrodynamic forces based on manoeuvre,
Current force
Another forces
Towing force of tug boat
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Hydrodynamic forces
_ a ) ( ), ( ), ( ), ( ), ( ), ( ), ( ) ( t t r t v t u t r t v t u Y t Y H

!
Manoeuvring hydrodynamic derivative

H
H
H

!
Y r Y v Y u Y r Y v Y u Y
Y r v u r v u Y
r v u r v u

0
, , , , , ,
_ a 0 , 0 , 0 , 0 , 0 , 0 ,
0
U Y Y !
v v
v
v
Y
Y
!
x
x
!
Taylor expansion
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Manoeuvring equations of motion
!
!
!
H
H
H
H
N r N r N v N v N N
Y r Y r Y v Y v Y Y
u u
r r v v
r r v v
u u

!
!
!
N r I
Y mUr v m
X u m
zz
u U u p
) ( , ,
) 1 (
I o r v u
o U
!
!
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Linear manoeuvring equations of motion
!
!
!
H
H
H
H
N r N v N v N r N I
Y r Y r mU Y v Y v Y m
u X u X m
r v v r zz
r r v v
u u

) (
) ( ) (
) (
!
!
!
r zz
v y
u x
N j
Y m
X m
!
!
!
H
H
H
H
N r N v N v N r j I
Y r Y r mU Y v Y v m m
u X u m m
r v v zz zz
r r v y
u x

) (
) ( ) (
) (
Added mass, Added inertia moment
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Non-dimensional expression
) , (
speed ship of component Constant :
draft : length, Ship :
salt water of density Mass :
v u U U
U
d L
!
T
V
d L
m
m

!
2
2
1
' : ass
V
2
2
1
' : Force
U d L
X
X

!
V
t
L
U
t ! d : Time
dt
d
U
L
t d
d
!
d
: derivative Time
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Non-dimensional manoeuvring equations
d
!
d d
d
!
d d
d
d
d
!
d d
d
H
H
H
H
N r N v N v N r j I
Y r Y r m Y v Y v m m
u X u m m
r v v zz zz
r r v y
u x

) (
) ( ) (
) (
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Mathematical models
Hydrodynamic force model
Abkowitz
MMG model (SNAJ, JTTC)
Response model
Nomoto model
System
(Ship)
Input output
Rudder Yaw rate
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Response model
d d
d
!
d
d
!
d
d d
d
H
H
H
H
N r j I r N v N v N
Y r Y r m Y v Y v m m
zz zz r v v
r r v y

) (
) ( ) (
0 ssuming !
d
u
v v
d d
and liminate
H H
d
!
d
d

5 4 3 2 1
q q r q r q r q
d d d d d !
d d d d !
d d d d d !
d d d d d d d d d d d !
d d d d d d !
H H
H H
Y N N m m q
Y N Y N q
m Y N N Y q
m Y N m m N j I Y Y N q
Y N j I m m q
v y
v v
r v r v
r v y r zz zz v r v
r v zz zz y

) (
) (
) ( ) ( ) (
) )( (
5
4
3
2
1
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Nomoto model (2
nd
-order & 1
st
order)
H H
d d d
d
!
d
d d
d d d

3 2 1 2 1
) ( T K K r r T T r T T
4
5
3
3
4
3
2
2 1
3
1
2 1
, , ,
q
q
T
q
q
K
q
q
T T
q
q
T T !
d
!
d
!
d
d
!
d d
Manoeuvrability indices
KT model
H K r r T
d
!
d
d d
3 2 1
T T T T
d
d
!
d
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Directional stability analysis
0 ) (
2 1 2 1
!
d
d d
d d d
r r T T r T T

Course stability without any steering function
Characteristic equation
t
e r r
P
0
ubstitute !
d
0 1 ) (
2 1
2
2 1
!
d
d d
P P T T T T
Vite's formulas (relation between the roots of a quadratic equation )
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Directional stability criterion
0
1
0
2 1
2 1
2 1
2 1
2 1
"
d d
!
d d
d
d
!
T T
T T
T T
P P
P P
Vite's formulas (relation between the roots of a quadratic equation )
v
v
r
r
Y
N
m Y
N
d
d
"
d
d
d
Neutral point:
The center of pressure in
pure sway.
The center of pressure in pure yaw.
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Solution of KT model
Turning test
H K r r T
d
!
d
d d
!
) 0 (
) 0 ( 0
) (
0
t
t
t
H
H
0
H
T
K
T
r
dt
r d
d
d
!
d
d
d
) (
1
0
H K r
T dt
r d
d d
d
!
d
T
dt
K r
r d
d
!
d
d
d
0
H
C
T
t
K r
d
!
d
d
) log(
0
H
T
t
Ce K t r
d
d
!
d
0
) ( H
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Solution of KT model
Initial condition:
0 0 !
d
! r t .
0
H K
d
!
) 1 ( ) (
0
T
t
e K t r
d
d
!
d
H
) (t rd
t
0
H Kd
0
63 . 0 H Kd
Td 0
0
1
0
63 . 0 ) 1 ( H H K e K r T t !
d
!
d d
!

.
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Assessment of
manoeuvring performance
Standards for ship manoeuvrability
(IMO Resolution MSC.137(76), 2002)
Turning tests
Zig-zag tests
Stopping tests
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10r/10rZig-zag manoeuvre (stb.)
1. The ship is brought to a steady course and speed
according to the specific approach condition.
2. The rudder is ordered to 10rto starboard.
3. When the heading has changed by 10roff the base
course, the rudder is shifted to 10rto port. The ships
yaw will be checked and a turn in the opposite
direction will begin.
4. When the heading is 10r port off the base course, the
rudder is reversed as before.
5. The procedure is repeated until the ship heading has
passed the base course no less than two times.
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Requirements of the standards for
ship manoeuvrability
The 10r/10rand 20r/20rzig-zag tests
(Essential information)
The overshoot angles
Initial turning time to second execute
The time to check yaw
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-20
-10
0
10
20
0 20 40 60 80 100 120
Graphical estimation of T, K indices
t
e
t
e
t
e

!
e e e
t t t
dt t K dt
dt
t d
dt
dt
t d
T
0 0 0
2
2
) (
) ( ) (
H
U U
) 0 ( ) ( ) 0 ( ) (
) 0 ( ) (
0
!
b r
t
m e
e
t K dt t K t
dt
d
dt
t d
T
e
H H U U
U U
e r
t
m e
t K dt t K t
e
H H U !
0
) ( ) (
A
e
(t
e
)
TUMST
e r e e
t K KA H U !
' ' '
e r e e
t K KA H U !
' ' ' ' ' '
e r e e
t K KA H U !
r
K H ,
23
2
1 23
K K
K

!
_
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-20
-10
0
10
20
0 20 40 60 80 100 120
t
o
t
o
t
o

!
o o o
t t t
dt t K dt
dt
t d
dt
dt
t d
T
0 0 0
2
2
) (
) ( ) (
H
U U
) 0 ( ) ( ) 0 ( ) (
) 0 ( ) (
0
!
o r
t
m o
o
t K dt t K t
dt
d
dt
t d
T
o
H H U U
U U
o r
t
m
t K dt t K T
o
H H E !
0
) ( tan
A
o
A
o o r
t
m
o
t K dt t K
dt
t d
T
o
H H
U
!
0
) (
) (
TUMST
o r o
t K KA T H E ! tan
' ' ' tan
o r o
t K KA T H !
' ' ' ' ' ' tan
o r o
t K KA T H !
2
2 / ) (
8 7 6
T T T
T

!
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On-line Identification of Ship Manoeuvrability
Indices by Using IIR Filters
( IIR: Infinite Impulse Response)
H K r r T !
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Real-time identification
RLS: Recursive Least Square
Direct method: IIR filter
Indirect method: Pulse response function
TUMST
Response function
) / 1 (
/
) (
) (
) (
T s s
T K
s
s
s G
! !
H
U
Laplace transform
) ( / ) ( ) / 1 (
) ( ) ( ) (
)} ( { )} ( ) ( {
2
s T K s T s s
s K s s Ts
t K L t t T L
H U
H U
H U U
!
!
!

TUMST
G z
b z b
z a z a
( ) !

1 2
2
1 2
a p a p p e
b KT
h
T
p b KT p
h
T
h
T
1 2
1 2
1
1 1 1
! ! !
!
( ), ,
,
Pulse response function
Z-Transformation
) 1 ( ) (
time sam lin
1
1
!
!

k k z
h e z
hs
U U
!

) (
1
) 1 ( ) (
1 1
s G
s
L Z z z G
TUMST
ARX model
) ( ) 2 ( ) 1 (
) 2 ( ) 1 ( ) (
2 1
2 1
k e k b k b
k a k a k
!

H H
U U U
) (
) (
) (
2 1
2
2 1
k
k
a z a z
b z b
z G
H
U
!

!
( ) t kh !

e k white noise ( ) :
TUMST
Vector Expression
) ( ) ( ) ( k e k k
T
! U

2 1 2 1
, , ,
) 2 ( ), 1 ( ), 2 ( ), 1 ( ) (
b b a a
k k k k k
T
T
!
!
H H U U

) ( ) ( ) (
k k k e
T
!U
TUMST
RLS (Recursive Least Square) Method
J k e k we k
w e w e
k k
( )

( )

( )
( )

( )
!

2 2
4 2 3 2
1
4 3
.
.
I H v ! c k) (
w k k k D
T
/ ) 1 ( ) ( ) 1 ( 1 ! H
wD k k k G / ) 1 ( ) ( ) 1 ( ! H
) (
) 1 ( ) 1 (
k k k
T
! U
_ a ) 1 (
) 1 ( ) 1 ( ) (
) 1 (
! k k k G k k U U
_ a w k k k G k
T
/ ) ( ) 1 ( ) 1 ( ) 1 ( H I H !
TUMST
Integrated Form of the Linear Response Model
) ( ) ( ) (
2 1 0
k k k FH EU U !
E F ! !
1
T
K
T
,

!
!
!
kh
h k
kh
h k
kh
h k
d d k k
d k k
kh k
) 1 ( ) 1 (
1 1 2 2
) 1 (
1 1
0
) ( ) 1 ( ) (
, ) ( ) 1 ( ) (
) ( ) (
X X X H H H
X X U U U
U U

! dtdt t K dtdt t t T ) ( )) ( ) ( ( H U U

TUMST
Impulse response of
FIR filter and IIR filter
1
t
0
( ! L t
) (t g
1
t
0
( ! L t
) (t g
s
e
s H
s L(
!
1
) (
P
!
s
s H
1
) (
) ( ) ( ) ( ( ! L t u t u t g
t
e t g
P
! ) (
TUMST
IIR Filter
G s
s
( ) !
1
P
n
z
z
h
s
n
n
z
z
h
s
s G z P
! !
P
P
1
1
1
1 2 1
1 2
) (
1
) ( ) (
1
1
TUMST
_ a
_ a
_ a ) 2 ( ) ( 2 ) (
2
) 2 ( ) ( 2 ) (
) 2 ( ) (
2
) 2 ( ) ( 2 ) (
) 2 ( ) ( 2 ) (
) 2 ( ) ( 2 ) (
2
2
2
2 2
2
0
2
0 0

!

!

!
k k k B
h
k A k A k
k k B
h
k A k A k
k k k B
k A k A k
H H H
H H H
U U
U U U
U U U
U U U
IIR Filter
A
h
h
B
h
!

1
2
1
2
1
2
2
P
P
P ,
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Measurement conditions and T-K value
Table 1 Measurement conditions and T-K value
NO. S eed Wave T(sec) K(1/sec)
11.5kt Head 7.57 0.138
9.9kt Head 7.83 0.116
7.6kt Head 9.63 0.094
12.3kt Follow 7.74 0.153
9.5kt Follow 8.55 0.132
7.4kt Follow 12.41 0.089

TUMST
Measured time histories
?9
1
19
19
1
?9
9 199 ?99 `99 499
T 1m )
Y
=

R
v
d
d
v

^
u
a
1
a
)
Y ^ " ^ \ ll
R l l .^ \ ll
TUMST
Time histories of estimated maneuvera ility index K
^^
^
^`
^
^|
^
^ ^^ `^^ ^^ |^^
)
l

)
|=^`)
|=^)
|=`^)
TUMST
Time histories of estimated maneuvera ility index T
0
!
'
'
4
0 !00 '00 '00 400

1 !m )
1

)
h=0.')
h=!.0)
h='.0)
TUMST
Time histories of estimated maneuverability index T and K.
TUMST
Time histories of estimated maneuverability index T and K.
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Comparisons of maneuvera ility index T
ead seas
`
!`
!
!` !! !
' ||'|+)
'
)
r-||!-
| `
| !`
| `
| |' `
| |' !`
| |' `
TUMST
Comparisons of maneuvera ility index T
ollowing seas
)
'
1
)
'
1
' ) '
' ||'|a)
'
)
r-||-
| )'
| )
| ')
| |' )'
| |' )
| |' ')
TUMST
Comparisons of maneuvera ility index K
ead seas
)))
))
))
)
' ) '
' ||'|a)
|
'
)
r-||-
| )'
| )
| ')
| |' )'
| |' )
| |' ')
TUMST
Comparisons of maneuvera ility index K
ollowing seas
)))
))
))
)
)')
) ) '
' ||'|a)
|
'
)
r+||+
| )'
| )
| ')
| |' )'
| |' )
| |' ')
TUMST
Relationship etween estimated maneuvera ility
index T and
1
)
'
1
)) )' )1 ) ) )
'
)
')
| )'
| )
| ')
TUMST
Conclusions Conclusions
The direct RLS algorithm with IIR filters
1. The coefficients of the motion equations appear explicitly.
2. The estimates are not influenced by sampling rates.
3. Successful agreements can be seen between the estimated
indices and the results of the conventional analysis.
4. The effective range of the dumping constant of IIR filters is
wide.
Powerful tool for on-line identification

Testing of Ships

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TUMST

11.5kt Head 7.57 0.138

9.9kt Head 7.83 0.116

7.6kt Head 9.63 0.094

12.3kt Follow 7.74 0.153

9.5kt Follow 8.55 0.132

7.4kt Follow 12.41 0.089

0 !00 '00 '00 400

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