Dynamics modeling of the MoorMaster unit and investigate the interaction between the moored ship and the MoorMaster

Authors

1 Professor, Center of Excellence in Hydrodynamics and Dynamics of Marine Vehicles/ Sharif University of Technology

2 M.Sc. Student, School of Mechanical Engineering/ Sharif University of Technology

Abstract

Developed mooring unit, the MoorMaster, which replaces conventional mooring lines is addressed here. The hydraulics of the system have a strong deducting effects on the motions of the moored ship. MoorMaster act in two different states. In first state; mechanism controls transfer mechanism to suitable position and joint with ship. Second state is passive mechanism state that lock in last position and the controller is passive so that springs and dampers appliance in mechanism carry passively apply forces from ship to mechanism. First; we defined state variables and According to the Lagrange equations, dynamics model of MoorMaster is extracted using Matlab Toolboxes and dynamics numerical simulations will be done. Then design a Controller to control the mechanism to stick to the vessel’s body. Second state; investigate the interaction forces/moments in between the moored ship and the mechanism. have considered the simplest case, where the ship is located just under the MoorMaster force. Ship motion equations solved using Lagrange equations. And then design a controller that gives the ability to MoorMaster which exert forces and torques suitable in the freedom direction, per ship behavior. The results are given in a series of figures.

References

[1] de Bont1, W. van der Molen2, J. van der Lem3, H. Ligteringen4, D. Mühlestein5 and M. Howie., 2010. “Calculations of the motions of a ship moored with moormaster™ units”. Port Infrastructure Seminar. [2] Jerry H. Ginsberg., 1999. Advanced Engineering Dynamics. Cambridge University Press, page 266-271. [3] W Lohmiller, JJE Slotine, 1998. On contraction analysis for non-linear systems. Automatic, Elsevier. [4] Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, (2006), Robot Modeling and Control, John wiley and sons, page 140-141. [5] https://www.scribd.com/doc/285169068/MoorMaster-Reference-List-Lres-May-2011

Files

Share

How to cite

Statistics