cruise vessel service condition voyager of the seas - brk · pdf filecruise vessel service...

Title of report and Project No.:

Ship Description

Ship 3427

Cruise Vessel

Service Condition

"Voyager of the Seas"

Client: Ref.: DMI 2006293

Author(s): Ole Tersløv Date: 2007-02-15

Approved by:

Revision Description By: Checked: Approved: Date:

2 Corrections in wind and shallow water OT 2007-02-15

1 Original version OT 2007-02-15

Keywords:Manoeuvring characteristics Ship characteristics Equilibrium speeds Standard manoeuvres Other characteristic manoeuvres

Classification:

Open

Internal

X Confidential

FORCE Technology ii

Ship 3427, Cruise Vessel Service Condition

Last Updated: 2007-02-15

Abbreviations

LBP, LPP Length between perpendiculars LOA Length over allB BreadthBmld Moulded BreadthTa Draft aft

Tf Draft foreT, Tm Draft Average LCB Longitudinal center of buoyancy FP Fixed pitchCP Controllable pitch

CL Center Linedeg Degreess Seconds Kg Kilogramm Meters

m2 Square meters m3 Cubic meterskW KilowattRPM Revolutions per minute SB Starboard side

PS Port side

FORCE Technology 1



1 Manoeuvring Characteristics

The ship is a cruise vessel with pod drive. It is fitted with three pods, the centre one

being fixed. The ship’s behaviour is dependant upon whether the centre pod is working

or not.

For all pods working its turning ability as seen from the turning circle is about average.

The manoeuvring ability is very good with an overshoot of only 4 degrees in a 20-20 zig-

zag. And the ship is course stable and seaworthy in this condition.

When only wing pods are working, the turning ability is good. The manoeuvring ability at

full speed is also good, with a first overshoot of 8 deg. in a 20-20 zig-zag. The ship is

marginally course stable and seaworthy.

The pods and thrusters give the ship good low-speed manoeuvrability. The stopping

ability is good when thrusters are turned to give astern thrust. It hardly rolls in 3 m

waves.

FORCE Technology 2



2 Ship Characteristics

Type of ship ConditionShip No.

Cruise Vessel Service3427

Displacement m3

Length between Perpendiculars m

Length overall m

Breadth moulded m

Depth moulded m

Draught fore/aft m

Wetted Surface m²

Frontal wind Area m²

Lateral wind Area m²

Block Coefficient based on Lpp m

Trim by the Stern, %

Metacentric Height m

LCB, % of LPP forw. of LPP/2 %

Radius of Inertia, % of LPP %

60704

274.73

311.12

38.6

11.70

8.60 / 8.60

12008

2363

11843

0.666

0.0

2.66

-4.80

25

Type of Engine

Number of Propellers

Type of Propellers

Direction of Rotation

Number of Blades

Propeller Diameter m

Pitch Ratio at 0.7R

Area Ratio

Shaft Power (ahead) total kW

Diesel-electric

3

FP

2 outwards, 1 right hand

4

2 of 5.6, 1 of 5.4

2 of 1.087, 1 of 1.128

2 of 0.568, 1 of 0.613

3 x 14.000

Number of Rudders

Type of Rudders

Position from Centre Line m

Area of Rudder m²

100 x total rudder Area/LBP x T

Turning Velocity of Rudder (two Pumps) deg/s

Max. rudder Angle deg

2

pods

10.0

-

-

5.0

+/- 180

Anchor Weight kg

Chain Weight kg/m

20.000

354

Number of bow Thrusters

Nominal bow thruster Power kW

Number of stern Thrusters

Nominal stern thruster Power kW

4

4 x 3000 ~ 4 x 41 t

0

-

Table 2-1: Ship characteristics

FORCE Technology 3



3 Equilibrium Speeds

Wing Propellers only Speed, Knots ShipEngineSetting RPM Pitch 1000 m 10.32 m

1.0 136 1.087 19.1 Grounded

0.8 100 “ 14.3 10.7

0.5 77 “ 11.0 9.0

0.25 54 “ 7.2 6.0

0.125 39 “ 4.5 3.7

-0.125 -39 “ -3.5 -2.9

-0.25 -54 “ -5.2 -4.6

-0.5 -77 “ -8.4 -7.4

-1.0 -100 “ -11.3 -9.5

All three Propellers Speed, Knots ShipEngineSetting RPM Pitch 1000 m 10.32 m

1.0 144 1.087 + 1.128 22.1 Grounded

0.8 100 “ 15.7 11.8

0.5 77 “ 12.1 9.8

0.25 54 “ 8.3 6.9

0.125 39 “ 5.3 4.5

Table 3-1: Propeller RPM and pitch, and equilibrium speeds for various handle settings for two water depths: deep water and shallow water corresponding to 1.2 times the mean draught.

FORCE Technology 4



4 Standard Manoeuvres

With wing pods only operating

RunNo.

Waterdepth[m]

Type of ManoeuvreInitial speed[kts]

Podangle[deg]

Enginesetting

Thruster Bow/Aft

101

102

103

1000

1000

1000

35 deg SB Turning Circle

35 deg PS Turning Circle


19.1

19.1

0

-35

35

-35

1.0

1 -> 0

0 -> 1

0 / 0

0 / 0

0 / 0

104

105

106

1000

1000

1000

Crash Stop

Normal Stop

Stop from Half Speed

19.1

19.1

11.0

0

0

0

1 -> -1

1 -> -0.5

0.5 -> -1

0 / 0

0 / 0

0 / 0

107

119

1000

1000

Bow Thruster Full SB

Turning with Engines

0

0

0

0

0

0.5 /-0.5

1 / 0

0

110

111

1000

1000

Wind 15 m/s from side


0

19.1

0

0

0

1.0

0 / 0

0 / 0

112

113

114

1000

1000

1000

20-20 Zig-Zag

10-10 Zig-Zag

Spiral test

19.1

19.1

19.1

20 -> -20

10 -> -10

-15 -> 15

1.0

1.0

1.0

0 / 0

0 / 0

0 / 0

115

116

1000

10.32

Course keeping in 15 m/s

Course keeping in 15m/s

7.0

6.0

Autopilot

Autopilot

0.35

0.35

0 / 0

0 / 0

121

122

10.32

10.32



9.0

0

-35

-35

0.5

0 -> 1.0

0 / 0

0 / 0

Table 4-1: Standard Manoeuvres: Starboard Rudder Angles Negative Engine Settings 1.0 = Full Ahead Thruster Settings 1.0 = Full Starboard

FORCE Technology 5



With all three pods operating

RunNo.

Waterdepth[m]


Podangle[deg]

Enginesetting

Thruster Bow/Aft

171

172

173

1000

1000

1000


35 deg PS Turning Circle


22.1

22.1

0

-35

35

-35

1.0

1 -> 0

0 -> 1

0 / 0

0 / 0

0 / 0

174

175

176

1000

1000

1000

Crash Stop

Normal Stop

Stop from Half Speed

22.1

22.1

12.1

0

0

0

1 -> -1

1 -> -0.5

0.5 -> -1

0 / 0

0 / 0

0 / 0

177

189

1000

1000

Bow Thruster Full SB

Turning with Engines

0

0

0

0

0

0.5 /-0.5

1 / 0

0 / 0

180

181

1000

1000



0

22.1

0

0

0

1.0

0 / 0

0 / 0

182

183

184

1000

1000

1000

20-20 Zig-Zag

10-10 Zig-Zag

Spiral Test

22.1

22.1

22.1

20 -> -20

10 -> -10

-15 -> 15

1.0

1.0

1.0

0 / 0

0 / 0

0 / 0

191

192

10.32

10.32



9.8

0

-35

-35

0.5

0 -> 1.0

0 / 0

0 / 0

Table 4-2: Standard Manoeuvres: Starboard Rudder Angles Negative Engine Settings 1.0 = Full Ahead Thruster Settings 1.0 = Full Starboard

FORCE Technology 6



5 Further Check Manoeuvres

RunNo.

Waterdepth[m]


Podangle[deg]

Enginesetting

Thruster Bow/Aft

141

142

143

144

1000

1000

1000

1000

Going astern, rudder amidships

Going astern, 10 deg. SB rudder

Going astern, 10 deg. PS rudder

Going astern in wind

-1.9

-1.9

-1.9

-1.9

0

-10

10

0

-0.125

-0.125

-0.125

-0.125

0 / 0

0 / 0

0 / 0

0 / 0

150

151

17.2

17.2

Roll damping, sailing

Roll damping, sailing

11.0

11.0

0

Autopilot

0.5

0.5

0 / 0

0 / 0

161

162

163

10.32

10.32

10.32

Hitting fender with bow

Hitting fender with stern

Hitting fender with side

1.9

-1.9

1.0

0

0

0

0

0

0

0 / 0

0 / 0

0 / 0

200

201

202

1000

1000

1000

Roll damping

Heave damping

Pitch damping

0

0

0

0

0

0

0

0

0

0 / 0

0 / 0

0 / 0

203

204

205

206

207

208

210

211

1000

1000

1000

1000

1000

1000

1000

1000

SB turn in 3 m waves

PS turn in 3 m waves

SB turn in 15 m/s wind

PS turn in 15 m/s wind

Drifting in 15 m/s wind

Sailing in 15 m/s wind

Drifting in 3 m waves

Sailing in 3 m waves

19.1

19.1

19.1

19.1

0

19.1

0

19.1

-35

35

-35

35

0

Autopilot

0

Autopilot

1

1

1

1

0

1

0

1

0 / 0

0 / 0

0 / 0

0 / 0

0 / 0

0 / 0

0 / 0

0 / 0

220

221

222

223

224

10.32

10.32

10.32

10.32

10.32

Sailing free

Sailing, dragging SB anchor

Drifting, SB anchor out

Drifting, free

Drifting, SB anchor out

1.3

1.3

0

0

0

0

0

0

0

0

0.125

0.125

0

0

0

0 / 0

0 / 0

0 / 0

0 / 0

0 / 0

Table 5-1: Further check manoeuvres: Engine Settings: 1.0 = Full Ahead Starboard rudder angles are negative.

FORCE Technology



Appendix 1: Plots of Standard and Check Manoeuvres

Wing pods only operating Fig. A-1: Ship outline Fig. A-2: Wind coefficients Fig. A-3: Track plots: Turning circles, stopping and zig-zag manoeuvres, Run

101 – 113 and 121 - 122 Fig. A-4: Time series: Rudder angles and heading during zig-zag manoeuvres,

Run 112 and 113 Fig. A-5: Time series: Advance, speed and revolutions during stopping

manoeuvres, Run 104 and 105 Fig. A-6: Spiral test. Turn rate versus rudder angle, Run 114 Fig. A-7: Course keeping in wind; Deep and shallow water, Run 115 and 116 Fig. A-8: Track plots: Turning circles in wind and waves; drifting in wind and

waves, Run 203 – 211 Fig. A-9: Time series: Roll, heave and pitch decays, Run 200 – 202 Fig. A-10: Time series: Roll angle when turning in wind and waves, Run 203 -

206Fig. A-11: Time series: Roll and yaw angles for course keeping in waves. Run

208 and 211 Fig. A-12: Time series: Roll damping – sailing, Run 150 and 151 Fig. A-13: Track plots: Hitting fender, Run 161 – 163 Fig. A-14: Track plots: Going astern, Run 141 - 144 Fig. A-15: Track plots: Effect of anchor, Run 220 – 224 Fig. A-16: Squat at different depths and speeds, Run 125 – 127

All three pods operating Fig. A-17: Track plots: Turning circles, stopping and zig-zag manoeuvres, Run

171 – 183 and 191 - 192 Fig. A-18: Time series: Rudder angles and heading during zig-zag manoeuvres,

Run 182 and 183 Fig. A-19: Time series: Advance, speed and revolutions during stopping

manoeuvres, Run 174 and 175 Fig. A-20: Spiral test. Turn rate versus rudder angle, Run 184

Mathematical Ship Model No. 3674

Royal Princess

FORCE 112-26358 / 2013-09-18

Title of report and Project No.:

Ship Description

Ship 3674

Cruise Ship

Design Condition

Royal Princess

Client: Ref.: 112-26358

Author(s): Jonas Smith Frederiksen Date: 2013-09-18

Approved by:

Revision Description By: Checked: Approved: Date:

4 Update from Sea trial data JSF JFO 2013-09-18

3 Updated shallow water drift JSF JFO 2012-11-22

2 Revised combinatory and thruster modules

JSF JFO 2012-10-29

1 Original version JSF JFO 2012-10-18

Keywords: Manoeuvring characteristics Ship characteristics Equilibrium speeds

Classification:

Open

Internal

X Confidential

FORCE Technology i

Ship 3674, Cruise Ship Design Condition


List of Contents

Page

1 Ship Description ................................................................................................. 1

2 Basis for Mathematical Ship Model .................................................................... 1

3 Manoeuvring Characteristics ............................................................................. 2

4 Ship Particulars .................................................................................................. 3

5 Equilibrium Speeds ............................................................................................ 4

6 References ......................................................................................................... 5

Appendix A: Plots of Standard and Check Manoeuvres at Service Speed (22.2 knots).

Appendix B: Plots of Turning Circle and Zig-Zag Manoeuvres at 6 Knots for

Comparison with Manoeuvring Trials (See ref. /1/).

Nomenclature and Definitions LCB Longitudinal centre of buoyancy Lpp Length between perpendiculars R Radius of propeller T Draught

The ship is defined in a right hand coordinate system with x positive forward and y positive to starboard. The path of

the ship is referred to the origin of the ship, i.e. at the intersection between amidships and the centreline. Rudder

angles are defined positive to port.

Wind direction: Wind coming from [angle]

Wave direction: Waves going to [angle]

Current direction: Current going to [angle]

FORCE Technology 1



1 Ship Description

The ship is a 330 m long and 38.4 m wide cruise ship in design condition i.e. with a draught

for and aft of 8.3m. It is driven by two diesel electric engines of 18.77 MW each and has

two fixed pitch propellers. The service speed at the design draught is 22.2 knots. The vessel

is equipped with two spade rudders, three bow thrusters and three stern thrusters.

The simulator model of the vessel is made with a combinatory/load program corresponding

to “normal mode” and with crash stop in “emergency mode”. In reverse 70 % RPM is

available.

Documentation of standard and check manoeuvres can be found in Appendix A performed

at service speed of 22.2 knots. In Appendix B turning circles and zig-zag manoeuvres are

found performed in deep water at 6 knots for comparison purposes with the manoeuvring

trials performed by Fincantieri (See ref. /1/).

2 Basis for Mathematical Ship Model

The manoeuvring capabilities of the mathematical model of the ship are based on PMM

towing tank data of a similar cruise vessel. The sea-keeping properties of the hull have been

calculated using the FORCE Technology in-house software S-OMEGA and the simulator

model is tuned to match the sea-keeping results obtained by MARIN (See ref. /2/) with the

vessel being equipped with active fins and bilge keels. Wind load data has been obtained

from wind tunnel test measurements of the ship performed in the boundary layer wind

tunnel in Vienna (See ref. /3/).

The basis for the mathematical ship model is summarized in Table 2-1.

Effect (device)

Scaled

from

similar

model

Predicted

using

database

tool

(ShipYard)

Specific

model tests

(PMM/

wind

tunnel)

Specific

calculations

(CFD/

OMEGA)

Full scale

trial data

Hull hydrodynamics X X

Shallow water effects X

Propulsion & Rudder X

Wave loads X

Wind loads X

Bank effects X

Ship-ship interaction X

Hydrostatic forces X

Engine characteristic X

Anchor characteristic X

Table 2-1: Basis for Mathematical Ship Model

FORCE Technology 2



3 Manoeuvring Characteristics

The manoeuvring characteristics of the vessel show that the ship is course stable in yaw, as

seen from the spiral curve and is not expected to have steering difficulties. Its turning

ability is good as demonstrated by the turning circle test and the yaw-checking ability is

normal, when compared to other cruise ships with overshoot angles well below the IMO

limit. The stopping ability is good and below the IMO limit of 15 ship lengths.

The main manoeuvring characteristics of the mathematical ship model at 6 knots and 23

knots are listed in Table 3-1.

Parameter 3674

6.0 kn

3674

22.2 kn

IMO limit

22.2 kn

Turning circle, Advance 2.1 · Lpp 2.3 · Lpp 4.5· Lpp

Turning Circle, Tactical diameter 2.2 · Lpp 2.5 · Lpp 5.0· Lpp

10/10 zig-zag, 1st overshoot angle 3.6 deg 5.1 deg 18.4 deg

10/10 zig-zag, 2nd overshoot angle 5.6 deg 8.1 deg 37.6 deg

20/20 zig-zag, 1st overshoot angle 6.5 deg 10.6 deg 25 deg

20/20 zig-zag, 2nd overshoot angle 8.2 deg 12.5 deg 25 deg

Crash stop, Track reach 1.1 · Lpp 6.1 · Lpp 15· Lpp

Table 3-1: Manoeuvring Characteristics Track plots and time series from simulated standard manoeuvres are given in Appendix A and B. Note that the autopilot applied for the manoeuvres performed with autopilot uses heading control and not course control.

FORCE Technology 3



4 Ship Particulars

Type of ship Condition Ship No.

Cruise Ship Design 3674

Length between Perpendiculars m

Length overall m

Breadth moulded m

Depth moulded m

Draught fore/aft m

Displacement m3

Wetted Surface m²

Frontal wind Area m²

Lateral wind Area m²

Block Coefficient based on Lpp -

Trim by the Stern %

Metacentric Height m

LCB, % of Lpp forw. of Lpp/2 %

Radius of Gyration, /Lpp -

Radius of Gyration, /B -

306

330

38.4

21

8.3 / 8.3

66498

13919

1720

13446

0.682

0.0

2.98

-2.74

0.235

0.43

Type of Engine

Number of Propellers

Type of Propellers

Direction of Rotation

Number of Blades

Propeller Diameter m

Pitch Ratio at 0.7 R

Area Ratio

Shaft Power (ahead) total kW

Diesel Electric

2

FP

Inward

4

5.7

1.129

0.794

2 x 18200

Number of Rudders

Type of Rudders

Position from center line m

Area of Rudder (movable part) m²

Total rudder Area/(Lpp x T) %

Turning Velocity of Rudder (two Pumps) deg/s

Max. rudder Angle deg

2

Spade

5.8

2 x 29.8

2.35

4.64

+/- 35

Anchor Weight kg

Chain Weight kg/m

2 x 15000

212

Number of bow Thrusters

Nominal bow thruster Power (tunnel/retractable) kW

Number of stern Thrusters

Nominal stern thruster Power kW

3

3 x 2500 ~ 104 t.

3

3 x 2500 ~ 104 t.

Table 4-1: Ship Particulars

FORCE Technology 4



5 Equilibrium Speeds

Ship Engine Setting

Propeller Speed, knots

RPM Pitch 1000 m 9.96 m

1.0 136 1.129 22.2 Ground @

10.4

0.9 118 “ 19.6 “

0.8 102 “ 16.0 “

0.7 88 “ 13.2 8.7

0.6 75 “ 10.2 7.2

0.5 61 “ 7.6 5.5

0.4 49 “ 5.5 3.2

0.3 36 “ 3.0 2.2

0.2 25 “ 2.1 1.4

0.1 12 “ 1.2 0.7

-0.1 -15 “ -1.0 -0.6

-0.2 -27 “ -1.8 -1.0

-0.3 -41 “ -2.9 -1.7

-0.4 -54 “ -4.2 -2.5

-0.5 -67 “ -6.1 -3.7

-0.6 -81 “ -8.7 -5.1

-0.7 -95 “ -12.0 -7.1

-0.8 -95 “ -12.0 -7.1

-0.9 -95 “ -12.0 -7.1

-1.0 -95 “ -12.0 -7.1

Table 5-1: Propeller RPM and pitch, and equilibrium speeds for various handle settings

for two water depths: deep water and shallow water corresponding to 1.2 times the max draught.

FORCE Technology 5



6 References

/1/ Fincantieri, Drawing No 006223APN320011:

“Princess Cruise Vessel, Manoeuvrability Calculation, Low Speed Manoeuvring Predictions”, April 2011.

/2/ MARIN, Report No.24497-2-SMB:

“306 m Princess Cruiser; Seakeeping Model Tests, Volume 2 – Data Report- Analysis and Post-Processing of Measured Signals”, December 2010

/3/ MARIN, Report No. 24497-6-BT: “306 m Princess Cruise Ship; Crabbing Tests, Final Report”, November 2011.

Appendix A.

Mathematical Ship Model No. 3674Royal Princess

Plots of Standard and Check Manoeuvres

FORCE Technology Appendix A. 1

112−26358

18−Sep−2013

Ship 3674

List of Contents

Side View and Birds Eye View 3

Wind Coefficients 4

1. Turning Circle Starboard 5

2. Turning Circle Port 7

3. Turning Circle Starboard, Shallow Water 9

4. Zig−zag 10/10 11

5. Zig−zag 20/20 12

6. Combined Dieudonne− and Reverse Spiral 13

7. Acceleration 14

8. Crash Stop 15

9. Coasting Stop 16

10. Going Astern 17

11. Drifting in Wind 18

12. Sailing with Autopilot in Wind 20

13. Drifting in Current 22

14. Sailing with Autopilot in Current 24

15. Drifting in Waves 26

16. Sailing with Autopilot in Waves 28


112−26358

18−Sep−2013

Ship 3674

−150 −100 −50 0 50 100 150

−60

−40

−20

0

20

40

60

80

100

120

X [m]

Z [

m]

Side View of Ship 3674

−150 −100 −50 0 50 100 150

−100

−80

−60

−40

−20

0

20

40

60

80

100

X [m]

Y [

m]

Birds Eye View − Maximum Outline and Waterline


112−26358

18−Sep−2013

Ship 3674

0 45 90 135 180 225 270 315 360−1

−0.5

0

0.5

1

φ [deg]

CX [

−]

Wind Coefficients

0 45 90 135 180 225 270 315 360−1

−0.5

0

0.5

1

φ [deg]

CY [

−]

0 45 90 135 180 225 270 315 360−1

−0.5

0

0.5

1

φ [deg]

CK [

−]

0 45 90 135 180 225 270 315 360−0.1

−0.05

0

0.05

0.1

φ [deg]

CN

[−

]


112−26358

18−Sep−2013

Ship 3674

0 100 200 300 400 500 600 700 800

−200

0

200

400

600

800

1000

Transfer [m]

Ad

va

nce

[m

]

1. Turning Circle Starboard


112−26358

18−Sep−2013

Ship 3674

Initial Conditions and Controls

Approach speed : 22.2 knots

Rudder deflection : −35 deg

Water depth : h/T = ∞

Results and Equilibrium Values

Advance : 689 m

Transfer : 335 m

Tactical diameter : 772 m

Steady diameter : 386 m


0 50 100 150 200 250 300 350 4000

5

10

15

20

25

Time [s]

Sp

ee

d [

kts

]

0 50 100 150 200 250 300 350 4000

20

40

60

80

Time [s]

Ra

te o

f tu

rn [

de

g/m

in]

0 50 100 150 200 250 300 350 4000

10

20

30

Time [s]

Drift

an

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674

−800 −700 −600 −500 −400 −300 −200 −100 0

−200

0

200

400

600

800

1000

Transfer [m]

Ad

va

nce

[m

]

2. Turning Circle Port


112−26358

18−Sep−2013

Ship 3674



Rudder deflection : 35 deg



Advance : 693 m

Transfer : 335 m




0 50 100 150 200 250 300 350 4000

5

10

15

20

25

Time [s]

Sp

ee

d [

kts

]

0 50 100 150 200 250 300 350 400−80

−60

−40

−20

0

Time [s]

Ra

te o

f tu

rn [

de

g/m

in]

0 50 100 150 200 250 300 350 400−30

−20

−10

0

Time [s]

Drift

an

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674

0 100 200 300 400 500 600 700 800

−400

−200

0

200

400

600

800

Transfer [m]

Ad

va

nce

[m

]

3. Turning Circle Starboard, Shallow Water


112−26358

18−Sep−2013

Ship 3674




Water depth : h/T = 1.2


Advance : 567 m

Transfer : 385 m



3. Turning Circle Starboard, Shallow Water

0 500 1000 15000

1

2

3

4

5

Time [s]

Sp

ee

d [

kts

]

0 500 1000 15000

5

10

15

20

Time [s]

Ra

te o

f tu

rn [

de

g/m

in]

0 500 1000 15000

2

4

6

8

Time [s]

Drift

an

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674



Rudder/heading deflection : 10/10 deg


1st Overshoot Angle : 5.1 deg

2nd Overshoot Angle : 8.1 deg

Initial turning ability : 319 m

4. Zig−zag 10/10

0 50 100 150 200 250 300−20

−10

0

10

20

Time [s]

He

ad

ing

[−

de

g]

an

d R

ud

de

r [d

eg

]

0 50 100 150 200 250 300−10

−5

0

5

10

Time [s]

Drift

an

gle

[d

eg

]

0 50 100 150 200 250 300−50

0

50

Time [s]

Ra

te o

f T

urn

[d

eg

/min

]


112−26358

18−Sep−2013

Ship 3674








5. Zig−zag 20/20

0 50 100 150 200 250 300 350−40

−20

0

20

40

Time [s]

He

ad

ing

[−

de

g]

an

d R

ud

de

r [d

eg

]

0 50 100 150 200 250 300 350−20

−10

0

10

20

Time [s]

Drift

an

gle

[d

eg

]

0 50 100 150 200 250 300 350−100

−50

0

50

100

Time [s]

Ra

te o

f T

urn

[d

eg

/min

]


112−26358

18−Sep−2013

Ship 3674

−15 −10 −5 0 5 10 15−20

−15

−10

−5

0

5

10

15

20

Rudder Angle [deg]

Ra

te o

f T

urn

[d

eg

/min

]

6. Combined Dieudonne− and Reversed Spiral


112−26358

18−Sep−2013

Ship 3674


Initial speed : 0.0 knots



Advance : 11317 m

Speed : 21.4 knots

Revolutions : 128.3 RPM

Time : 1400 s

7. Acceleration

0 2000 4000 6000 8000 10000

−1000

0

1000

Tra

nsfe

r [m

]

Advance [m]

0 200 400 600 800 1000 1200 14000

5

10

15

20

25

Time [s]

Sp

ee

d [

kts

]

0 200 400 600 800 1000 1200 14000

50

100

150

Time [s]

Re

vo

lutio

ns [

RP

M]


112−26358

18−Sep−2013

Ship 3674





Advance : 1850 m

Speed : 0.2 knots

Revolutions : −78.1 RPM

Time : 375 s

8. Crash Stop

0 200 400 600 800 1000 1200 1400 1600 1800 2000

−200

0

200

Tra

nsfe

r [m

]

Advance [m]

0 50 100 150 200 250 300 350 4000

5

10

15

20

25

Time [s]

Sp

ee

d [

kts

]

0 50 100 150 200 250 300 350 400−100

−50

0

50

100

150

Time [s]

Re

vo

lutio

ns [

RP

M]


112−26358

18−Sep−2013

Ship 3674





Advance : 5764 m

Speed : 1.0 knots

Revolutions : 0.0 RPM

Time : 2075 s

9. Coasting Stop

0 1000 2000 3000 4000 5000

−500

0

500

Tra

nsfe

r [m

]

Advance [m]

0 500 1000 1500 2000 25000

5

10

15

20

25

Time [s]

Sp

ee

d [

kts

]

0 500 1000 1500 2000 25000

50

100

150

Time [s]

Re

vo

lutio

ns [

RP

M]


112−26358

18−Sep−2013

Ship 3674


Initial speed : −1.9 knots



Advance : −535 m

Speed : −1.6 knots


Time : 595 s

10. Going Astern

−600 −500 −400 −300 −200 −100 0 100

−100

−50

0

50

100

Tra

nsfe

r [m

]

Advance [m]

0 100 200 300 400 500 600−2

−1.5

−1

−0.5

0

Time [s]

Sp

ee

d [

kts

]

0 100 200 300 400 500 600−19

−18.5

−18

−17.5

−17

−16.5

Time [s]

Re

vo

lutio

ns [

RP

M]


112−26358

18−Sep−2013

Ship 3674



Wind speed : 15 m/s

Wind direction : 270 deg

Roll Angle : 1.5 deg


Longitudinal Speed : 0.2 knots

Transverse Speed : 1.4 m/s

11. Drifting in Wind

−300 −200 −100 0 100 200 300 400 500 600 700

−100

0

100

Transfer [m]

Ad

va

nce

[m

]

0 50 100 150 200 250 300 350 4000

0.05

0.1

0.15

0.2

0.25

Time [s]

Lo

ng

itu

din

al S

pe

ed

[kn

ots

]

0 50 100 150 200 250 300 350 4000

0.5

1

1.5

Time [s]

Tra

nsve

rse

Sp

ee

d [

m/s

]


112−26358

18−Sep−2013

Ship 3674

0 50 100 150 200 250 300 350 4000

0.2

0.4

0.6

0.8

He

ad

ing

[d

eg

]

Time [s]

11. Drifting in Wind

0 50 100 150 200 250 300 350 400−0.1

−0.05

0

0.05

0.1

Time [s]

He

ave

[m

]

0 50 100 150 200 250 300 350 4000

0.5

1

1.5

2

Time [s]

Ro

ll A

ng

le [

de

g]

0 50 100 150 200 250 300 350 400−0.1

−0.05

0

0.05

0.1

Time [s]

Pitch

An

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674



Wind speed : 15 m/s

Wind direction : 270 deg

Roll Angle : 2.8 deg




12. Sailing with Autopilot in Wind

0 500 1000 1500 2000 2500 3000 3500 4000

−600

−400

−200

0

200

400

Tra

nsfe

r [m

]

Advance [m]

0 50 100 150 200 250 300 350 4000

10

20

30

Time [s]

Lo

ng

itu

din

al S

pe

ed

[kn

ots

]

0 50 100 150 200 250 300 350 4000

0.1

0.2

0.3

0.4

0.5

Time [s]

Tra

nsve

rse

Sp

ee

d [

m/s

]


112−26358

18−Sep−2013

Ship 3674

0 50 100 150 200 250 300 350 400−0.4

−0.2

0

0.2

0.4

He

ad

ing

[d

eg

]

Time [s]

12. Sailing with Autopilot in Wind

0 50 100 150 200 250 300 350 4000

0.01

0.02

0.03

0.04

0.05

Time [s]

He

ave

[m

]

0 50 100 150 200 250 300 350 4000

1

2

3

4

Time [s]

Ro

ll A

ng

le [

de

g]

0 50 100 150 200 250 300 350 400−0.1

−0.05

0

0.05

0.1

Time [s]

Pitch

An

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674



Current speed : 2 knots

Current direction : 90 deg

Roll Angle : −0.0 deg


Longitudinal Speed : −0.0 knots


13. Drifting in Current

−400 −200 0 200 400 600

−100

0

100

Transfer [m]

Ad

va

nce

[m

]

0 50 100 150 200 250 300 350 400−8

−6

−4

−2

0

2x 10

−4

Time [s]

Lo

ng

itu

din

al S

pe

ed

[kn

ots

]

0 50 100 150 200 250 300 350 4000

0.2

0.4

0.6

0.8

Time [s]

Tra

nsve

rse

Sp

ee

d [

m/s

]


112−26358

18−Sep−2013

Ship 3674

0 50 100 150 200 250 300 350 400−0.25

−0.2

−0.15

−0.1

−0.05

0

He

ad

ing

[d

eg

]

Time [s]

13. Drifting in Current

0 50 100 150 200 250 300 350 400−0.1

−0.05

0

0.05

0.1

Time [s]

He

ave

[m

]

0 50 100 150 200 250 300 350 400−0.8

−0.6

−0.4

−0.2

0

Time [s]

Ro

ll A

ng

le [

de

g]

0 50 100 150 200 250 300 350 400−0.1

−0.05

0

0.05

0.1

Time [s]

Pitch

An

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674



Current speed : 2 knots

Current direction : 90 deg

Roll Angle : −0.1 deg




14. Sailing with Autopilot in Current

0 1000 2000 3000 4000 5000 6000

−1000

−500

0

500

Tra

nsfe

r [m

]

Advance [m]

0 100 200 300 400 500 6000

10

20

30

Time [s]

Lo

ng

itu

din

al S

pe

ed

[kn

ots

]

0 100 200 300 400 500 6000

0.5

1

1.5

Time [s]

Tra

nsve

rse

Sp

ee

d [

m/s

]


112−26358

18−Sep−2013

Ship 3674

0 100 200 300 400 500 600−0.5

0

0.5

1

1.5

He

ad

ing

[d

eg

]

Time [s]

14. Sailing with Autopilot in Current

0 100 200 300 400 500 6000

0.01

0.02

0.03

0.04

0.05

Time [s]

He

ave

[m

]

0 100 200 300 400 500 600−6

−4

−2

0

2

Time [s]

Ro

ll A

ng

le [

de

g]

0 100 200 300 400 500 600−0.1

−0.05

0

0.05

0.1

Time [s]

Pitch

An

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674



Wave height (Hs) : 3 m

Wave period (Tp) : 9.1 s

Wave direction : 90 deg

Maximum Roll Angle : 4.6 deg




15. Drifting in Waves

−400 −200 0 200 400 600

−100

0

100

Transfer [m]

Ad

va

nce

[m

]

0 50 100 150 200 250 300 350 400−0.02

0

0.02

0.04

0.06

0.08

Time [s]

Lo

ng

itu

din

al S

pe

ed

[kn

ots

]

0 50 100 150 200 250 300 350 4000

0.2

0.4

0.6

0.8

Time [s]

Tra

nsve

rse

Sp

ee

d [

m/s

]


112−26358

18−Sep−2013

Ship 3674

0 50 100 150 200 250 300 350 4000

0.5

1

1.5

He

ad

ing

[d

eg

]

Time [s]

15. Drifting in Waves

0 50 100 150 200 250 300 350 400−1

−0.5

0

0.5

1

Time [s]

He

ave

[m

]

0 50 100 150 200 250 300 350 400−5

0

5

Time [s]

Ro

ll A

ng

le [

de

g]

0 50 100 150 200 250 300 350 400−0.2

−0.1

0

0.1

0.2

Time [s]

Pitch

An

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674



Wave height (Hs) : 3 m

Wave period (Tp) : 9.1 s

Wave direction : 90 deg

Maximum Roll Angle : 4.9 deg




16. Sailing with Autopilot in Waves

0 500 1000 1500 2000 2500 3000 3500 4000

−500

0

500

Tra

nsfe

r [m

]

Advance [m]

0 50 100 150 200 250 300 350 4000

10

20

30

Time [s]

Lo

ng

itu

din

al S

pe

ed

[kn

ots

]

0 50 100 150 200 250 300 350 4000

0.02

0.04

0.06

0.08

Time [s]

Tra

nsve

rse

Sp

ee

d [

m/s

]


112−26358

18−Sep−2013

Ship 3674

0 50 100 150 200 250 300 350 400−0.1

−0.05

0

0.05

0.1

0.15

He

ad

ing

[d

eg

]

Time [s]

16. Sailing with Autopilot in Waves

0 50 100 150 200 250 300 350 400−1

−0.5

0

0.5

1

Time [s]

He

ave

[m

]

0 50 100 150 200 250 300 350 400−5

0

5

Time [s]

Ro

ll A

ng

le [

de

g]

0 50 100 150 200 250 300 350 400−0.2

−0.1

0

0.1

0.2

Time [s]

Pitch

An

gle

[d

eg

]


112−26358

18−Sep−2013

Ship 3674

Appendix B.

Mathematical Ship Model No. 3674Royal Princess

Plots of Standard and Check Manoeuvres

FORCE Technology Appendix B. 1

112−26358

22−Nov−2012

Ship 3674

List of Contents

1. Turning Circle Starboard 5

2. Turning Circle Port 7

4. Zig−zag 10/10 11

5. Zig−zag 20/20 12

8. Crash Stop 15


112−26358

22−Nov−2012

Ship 3674

0 100 200 300 400 500 600 700 800

−200

0

200

400

600

800

Transfer [m]

Ad

va

nce

[m

]



112−26358

22−Nov−2012

Ship 3674






Advance : 628 m

Transfer : 280 m




0 200 400 600 800 1000 1200 14000

2

4

6

Time [s]

Sp

ee

d [

kts

]

0 200 400 600 800 1000 1200 14000

5

10

15

20

25

Time [s]

Ra

te o

f tu

rn [

de

g/m

in]

0 200 400 600 800 1000 1200 14000

10

20

30

Time [s]

Drift

an

gle

[d

eg

]


112−26358

22−Nov−2012

Ship 3674

−800 −700 −600 −500 −400 −300 −200 −100 0

−200

0

200

400

600

800

Transfer [m]

Ad

va

nce

[m

]



112−26358

22−Nov−2012

Ship 3674



Rudder deflection : 35 deg



Advance : 627 m

Transfer : 278 m




0 200 400 600 800 1000 1200 14000

2

4

6

Time [s]

Sp

ee

d [

kts

]

0 200 400 600 800 1000 1200 1400−25

−20

−15

−10

−5

0

Time [s]

Ra

te o

f tu

rn [

de

g/m

in]

0 200 400 600 800 1000 1200 1400−30

−20

−10

0

Time [s]

Drift

an

gle

[d

eg

]


112−26358

22−Nov−2012

Ship 3674








4. Zig−zag 10/10

0 100 200 300 400 500 600 700 800 900−20

−10

0

10

20

Time [s]

He

ad

ing

[−

de

g]

an

d R

ud

de

r [d

eg

]

0 100 200 300 400 500 600 700 800 900−10

−5

0

5

10

Time [s]

Drift

an

gle

[d

eg

]

0 100 200 300 400 500 600 700 800 900−20

−10

0

10

20

Time [s]

Ra

te o

f T

urn

[d

eg

/min

]


112−26358

22−Nov−2012

Ship 3674








5. Zig−zag 20/20

0 100 200 300 400 500 600 700 800 900 1000−40

−20

0

20

40

Time [s]

He

ad

ing

[−

de

g]

an

d R

ud

de

r [d

eg

]

0 100 200 300 400 500 600 700 800 900 1000−20

−10

0

10

20

Time [s]

Drift

an

gle

[d

eg

]

0 100 200 300 400 500 600 700 800 900 1000−20

−10

0

10

20

Time [s]

Ra

te o

f T

urn

[d

eg

/min

]


112−26358

22−Nov−2012

Ship 3674





Advance : 293 m

Speed : 0.0 knots


Time : 158 s

8. Crash Stop

−100 0 100 200 300 400

−50

0

50

Tra

nsfe

r [m

]

Advance [m]

0 20 40 60 80 100 120 140 1600

2

4

6

8

Time [s]

Sp

ee

d [

kts

]

0 20 40 60 80 100 120 140 160−100

−50

0

50

Time [s]

Re

vo

lutio

ns [

RP

M]


112−26358

22−Nov−2012

Ship 3674

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