modeling and simulator aht vessel

8/18/2019 Modeling and Simulator AHT Vessel

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June 2009

Thor Inge Fossen, ITK

Master of Science in Engineering CyberneticsSubmission date:

Supervisor:

Norwegian University of Science and Technology

Department of Engineering Cybernetics

Modeling and Simulation of AnchorHandling Vessels

Lars Andreas Lien Wennersberg


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Problem DescriptionThe purpose of the thesis is to develop a simulator of an anchor handling vessel that is capable ofsimulating anchor handling operations under influence of environmental forces with realisticvessel motions. The following elements must be considered:

1. Give an overview of the best practice for anchor handling operations. Classification rules,regulations and operational procedures should be considered.

2. Based on a vessel model from the MSS Toolbox, develop and implement a simulator of ananchor handling vessel in MATLAB/Simulink. The simulator should contain the necessary modulesfor ballast tanks, roll reduction, cable systems and anchor handling equipment on deck.

3. Verify the simulator by simulating relevant anchor handling scenarios.

4. Present your findings and theoretical results in a report.

Assignment given: 12. January 2009Supervisor: Thor Inge Fossen, ITK


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x

x

X

x(t)

x(s)

x

a

w

2

i i

a

b

d

f

w

a

a

s

b

g

gp

d 3

p 3

d

d

w

s


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2

f 2

b 2

4

φ

g

B

C

f

P

S

s

m 2

w 2

d

g

i

p

s

pp

B

S

d

gm

gw

i

m

p

wd

b 3


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b

e

s

δ g ∇ 3 µα α

ω4 ωm ωw φ

φg ψ

ψc ψ

ρ

3

σ0 σ1

σ2 σ4 σα αθm θw ζ 4


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•

• •

•


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•

•

•

• • • •

•

•

•

•

• •

•

• •

•

• • • •

•


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SEABED

SURFACE


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SEABED

SEABED

WORK WIRE

TARGET


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50°


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300

SEABED

MAIN

VESSEL

SECONDARY

VESSEL

WORK WIRE


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L

l

h

l

sd


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s

s

s

p

p

O(0,0)

Q(l,h)

x

z

s

W

B

T

B


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H

Ws

L

V

T

Bs

L

B = ρgA

A

g

ρ

d

A = πd2/4

W e

W e = W − B

W


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T dx

dp

= H

T dz

dp = V − W s

L

T

H

V

H

T = EA

dp

ds − 1

E

dx

dp

2+

dz

dp

2= 1

T (s) =

H 2 +

V − W sL

21/2

s

x(s)

z(s)

dx/ds

dz/ds

s

dx

ds =

dx

dp

dp

ds

dz

ds =

dz

dp

dp

ds

dx/dp

dz/dp

dp/ds

dx/ds

dz/ds

dx

ds

= H

EA

+ H

[H 2

+ {V − Ws/L}2

]1/2

dz

ds =

1

EA

V − W s

L

+

V − Ws/L[H 2 + {V − Ws/L}2]1/2

x = 0

z = 0

p = 0 s = 0

x = l

z = h

p = Ls s = L


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Ls

s = 0

s

x

x(s) = Hs

EA +

H L

W

V

H

−

V − Ws/L

H

x

x

s = 0

s z

z(s) = W s

EA

V

W − s

2L

+

H L

W

1 + V

H

21/2−

1 +

V − Ws/L

H

21/2

H

V

l = HL

EA +

H L

W

V

H

−

V − W

H

h = W L

EA

V

W − 1

2

+

H L

W

1 + V

H

21/2−

1 +

V − W

H

21/2

H

V


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O

z

C

H

x

C A B L E

S A G

H

V V

Q

CABLE SPAN

h = 0

W l

2HL − W

2EA

=

W

2H

V = W/2

H

E = ∞

F P

F P


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O(0,0)

P(la,ha)

z

Q(lb,hb) x

FP

CABLE A CABLE B

A

B

s1 0 ≤ s < s1 s1 ≤ s ≤ L

0 ≤ s < s1 s1 ≤ s ≤ LA

LA ≤ s < s2 s2 ≤ s ≤ LA + LB


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F P

T dzdp

= V − W i sLi

0 ≤ s < s1 s1 ≤ s < s2

T dz

dp = V − F P − W i s

Li

s1 ≤ s ≤ LA s2 ≤ s ≤ LA + LB

i ∈ {A, B}

O

x = 0

z = 0

s = 0

P

x = lA z = hA s = LA

Q

x = lB z = hB s = LA + LB

s = LA

F P

x−A = x+A z

−

A = z+A p

−

A = p+A s = s1 = LA

x−B = x+B z

−

B = z+B p

−

B = p+B s = s2 = LA

T

T (s) =

H 2 +

V − W i s

Li

21/2

0 ≤ s < s1 s1 ≤ s < s2

T (s) =

H 2 +

V − F P − W i s

Li

21/2

s1 ≤ s ≤ LA s2 ≤ s ≤ LA + LB


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dx/ds

dz/ds

dx

ds = H

E iAi + H

[H 2 + {V − W is/Li}2]1/2

0 ≤ s < s1 s1 ≤ s < s2

dx

ds =

H

E iAi+

H

[H 2 + {V − F P − W is/Li}2]1/2

s1 ≤ s ≤ LA s2 ≤ s ≤ LA + LB

dz

ds =

1

E iAi

V − W is

Li

+

V − W is/Li[H 2 +

{V i

−W is/Li

}2]1/2

0 ≤ s < s1 s1 ≤ s < s2

dz

ds =

1

E iAi

V − F P − W is

Li

+

V − F P − W is/Li[H 2 + {V − F P − W is/Li}2]1/2

s1 ≤ s ≤ LA s2 ≤ s ≤ LA + LB

x

s

x

s1 s x1 x x1 s = s1 x x

x

x(s) = Hs

E AAA+

H LAW A

−1

V

H

−

−1

V − W As/LA

H

0 ≤ s < s1

x(s) = Hs

E AAA+

H LAW A

sinh−1

V

H

− −1

V − F P − W As/LAH

+

−1

V − F P − W As1/LA

H

− −1

V − W As1/LAH

s1 ≤ s < LA


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x(s) = H (s − s1)

E B

AB

+ Hs1E

AA

A

+ H LB

W B

−1

V − W Bs1/LB

H

− −1

V − W Bs/LBH

+ H LA

W A

−1

V

H

− −1

V − W As1/LAH

LA ≤ s < s2

x(s) = H (s − s1)

E BAB+

Hs1E AAA

+

HLBW B

−1

V − F P − W Bs2/LBH

− −1V − F P − W Bs/LBH

+

−1

V − W Bs1/LB

H

− −1

V − W Bs2/LBH

+ H LA

W A

−1

V

H

− −1

V − W As1/LAH

s2 ≤ s < LA + LB

−1(x) =

(x) = x

√ 1 + x2 z

z(s) = W As

E AAA

V

W A− s

2LA

+

H LAW A

1 +

V

H

21/2−

1 +

V − W As/LA

H

21/2

0 ≤ s < s1

z(s) = W As

E AAA

V

W A− s

2LA

+

H LAW A

1 +

V

H

21/2−

1 +

V − F P − W As/LA

H

21/2

+

1 +

V − F P − W As1/LA

H

21/2−

1 +

V − W As1/LA

H

21/2

+ F P

H

W AE AAA

s1LA

− sLA

s1 ≤ s < LA


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z(s) = W Bs

E BAB

V

W B− s

2LB

− W Bs1

E BAB

V

W B− s1

2LB

+

W As1E AAA

V

W A− s1

2LA

+ H LB

W B

1 +

V − W Bs1/LB

H

21/2−

1 +

V − W Bs/LB

H

21/2

+ H LA

W A

1 +

V

H

21/2−

1 +

V − W As1/LA

H

21/2

LA ≤ s < s2

z(s) = W BsE BAB

V W B

− s2LB

− W Bs1

E BAB

V W B

− s12LB

+ W As1

E AAA

V W A

− s12LA

+ H LB

W B

1 +

V − F P − W Bs2/LB

H

21/2−

1 +

V − F P − W Bs/LB

H

21/2

+

1 +

V − W Bs1/LB

H

21/2−

1 +

V − W Bs2/LB

H

21/2+

F P H

W bE BAB

s2LB

− sLB

+ H LA

W A

1 +

V

H

21/2 −

1 +

V − W As1/LA

H

21/2

s2 ≤ s < LA + LB

H

V

lA hA H V

s = LA + LB

lA lB H V

mA ≤ mB


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x = x0 z = z0 p = 0 s = 0

x = l

z = h

p = Ls s = L

O(0,0)

P(la,ha)

z

Q(lb,hb) x

Vs

SUBMERGED ANCHOR

SEABED

WORK-WIRE

MOORING

CHAIN

x(s) = Hs

EA0+

H L

W

V

H

−

V − Ws/L

H

+ x0

z(s) = W s

EA0

V

W − s

2L

+

H L

W

1 + V H

21/2

−

1 +

V − Ws/L

H

21/2+ z0


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p

s

p = s +

1

2EAW s +

(V s + W ss)(H 2

+ (V s + W ss)2

)1/2

+ H 2

V s + W ss

H +

(H 2 + (V s + W ss)2)1/2

H

W s V s

V s = V − W sL

s = L p = Ls

Ls = L + 1

2EAW s

V (H 2 + V 2)1/2 + H 2

V

H +

1 +

V

H

21/2

L = Ls s = p x = l z = h

H

V

H

V

l

L

H


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V

L

l

P 1(α, β ) = a00 + a10α + a01β

P 2(α, β ) = a00 + a10α + a01β + a20α2 + a11αβ + a02β

2

P 3(α, β ) = a00 + a10α + a01β + a20α2 + a11αβ + a02β

2

+ a30α3 + a21α

2β + a12αβ 2 + a03β

3

aii i ∈ {1, 3} α β

n p

N (n p)

N (n) = (n p + 1)(n p + 2)

2

α

α̂ = α − µα

σ2α

µα α σ

2α

β

α = L

β = l

H

V

H (L, l) = h00 + h10L + h01l + h20L2 + h11Ll + h02l

2

+ h30L3 + h21L

2l + h12Ll2 + h03l

3

V (L, l) = v00 + v10L + v01l + v20L2 + v11Ll + v02l

2

+ v30L3 + v21L

2l + v12Ll2 + v03l

3

hii vii i

∈ {1, 3

}


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l

α = LA β = l

LB

H 50(LA, l) V 50(LB, l)

H 60(LB, l) V 60(LB, l)

H 70(LB, l) V 70(LB, l)

H 990(LB, l) V 990(LB, l)

H 1000(LB, l) V 1000(LB, l)

LB


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m

ms d A m

2

F P


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LB = 1100 LA = 10 − 500

100

−1000

F P = 176.5


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F b

Rb

F b = F −

W ≥

Rb

tb


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ż = v − σ0

modeling and simulator aht vessel

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