Z-Drive Escort Tug manoeuvrability model and simulation

Piaggio, Benedetto; Viviani, Michele; Martelli, Michele; Figari, Massimo

doi:10.1016/j.oceaneng.2019.106461

Cited by 27 publications

(20 citation statements)

References 8 publications

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“…Fossen, 2004;Fossen et al, 2003), whose aim is to ensure the geometrical convergence of the guidance module to the traced path. Then, the considered tugs's model is presented, which results from the linearisation of the non linear one detailed in (Piaggio et al, 2019;Figari et al, 2020;Piaggio, 2020), at cruise speed.…”

Section: Figure 2: Tn3213 Models and Ground-stationmentioning

confidence: 99%

“…Starting from Piaggio et al (2019Piaggio et al ( , 2020; Piaggio (2020), a 3-DoF linearised version of the tug dynamics is derived around the straight-ahead sailing point at design speed u d for the present control-design scope. The hydrodynamic modelling of the vessel distinguishes the contributions in two main parts: H and AZ superscripts denote hull and azimuthal contributions, respectively.…”

Section: Line-of-sight Algorithmmentioning

confidence: 99%

“…The TN3212 manoeuvring linear coefficients were deduced and calibrated according to a customary identification optimisation process in the first steps of the experimental activities, based on Piaggio et al (2019); Piaggio (2020). A sketch of the experimental set-up scheme is reported in figure Fig.…”

Section: Set-up and Facilitiesmentioning

confidence: 99%

“…The wellconsolidated line-of-sight algorithm (LOS) is exploited to ensure yaw-check ability, while a simple supplementary speed-check feature (LOS+V) is implemented to track the velocity of the target along the path (Fossen et al, 2003;Breivik and Fossen, 2004;Donnarumma et al, 2020). To this purpose -an original linearised manoeuvrability model for azimuthal drive surface vessels is deduced starting from the complete non-linear modelling proposed by Piaggio et al (2019); Figari et al (2020). In combination with this, a novel model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID controllers are designed by using Linear Matrix Inequalities (LMI) techniques (Alessandri et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

“…In combination with this, a novel model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID controllers are designed by using Linear Matrix Inequalities (LMI) techniques (Alessandri et al, 2015). Finally, the control strategy has successively been validated in two steps by Piaggio (2020), initially by using simulation techniques, and then experimentally in a unique outdoor scenario with model scale vessels. The present paper presents a brief insight into the preliminary experimental results.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Piaggio¹,

Garofano²,

Donnarumma³

et al. 2020

Proceedings of the International Ship Control Systems Symposium (iSCSS)

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This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path. For this purpose, a linearised manoeuvrability model for azimuthal drive surface vessels is presented. A model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID controllers are designed by using Linear Matrix Inequalities technique. The control strategy has been successively validated in two steps, initially by using simulation techniques, and then experimentally using an outdoor scenario with model scale tugs. The path planning, navigation, guidance and control modules are studied, detailed, and digitally implemented on-board of the model scale tugs. The models are supplied with GNSS+INS navigation system. Low-level management and control of Azimuthals angles and shaft revolutions is implemented on-board. High-level decentralised path planning, guidance, and control sequence evaluation are dealt with at a remote ground station. In particular, the presented follow-the-leader strategy meets the most generic needs of platooning convoys, and, in the specific instance, of Escort convoy tugs. The operative profile of the latter concerns long-lasting and routine chases with the continuous demand of tuning heading and speed to track the target vessels, until the rare occurrence of an emergency event. In a realistic scenario, the proposed control system would be beneficial for the tug master’s lucidity and alertness, while reducing avoidable risks. At the end of the paper, the results of the experimental campaign are shown to demonstrate the effectiveness of the proposed control logic.

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Section: Figure 2: Tn3213 Models and Ground-stationmentioning

confidence: 99%

Section: Line-of-sight Algorithmmentioning

confidence: 99%

Section: Set-up and Facilitiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Piaggio¹,

Garofano²,

Donnarumma³

et al. 2020

Proceedings of the International Ship Control Systems Symposium (iSCSS)

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Optimized Power Sharing Models for HyForce: A Hydrogen-Powered Harbor Craft

Menon

Chan

2023

Lecture Notes in Electrical Engineering

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Validation of an Emission Model for a Marine Diesel Engine with Data from Sea Operations

Mocerino

Soares

Rizzuto

et al. 2021

J. Marine. Sci. Appl.

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In this study, a model is developed to simulate the dynamics of an internal combustion engine, and it is calibrated and validated against reliable experimental data, making it a tool that can effectively be adopted to conduct emission predictions. In this work, the Ricardo WAVE software is applied to the simulation of a particular marine diesel engine, a four-stroke engine used in the maritime field. Results from the bench tests are used for the calibration of the model. Finally, the calibration of the model and its validation with full-scale data measured at sea are presented. The prediction includes not only the classic engine operating parameters for a comparison with surveys but also an estimate of nitrogen oxide emissions, which are compared with similar results obtained with emission factors. The calibration of the model made it possible to obtain an overlap between the simulation results and real data with an average error of approximately 7% on power, torque, and consumption. The model provides encouraging results, suggesting further applications, such as in the study on transient conditions, coupling of the engine model with the ship model for a complete simulation of the operating conditions, and optimization studies on consumption and emissions. The availability of the emission data during the sea trial and validated simulation results are the strengths and novelties of this work.

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Z-Drive Escort Tug manoeuvrability model and simulation

Cited by 27 publications

References 8 publications

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Optimized Power Sharing Models for HyForce: A Hydrogen-Powered Harbor Craft

Validation of an Emission Model for a Marine Diesel Engine with Data from Sea Operations

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