WO2005101953A2 - Procede d'obtention de parametres de stabilite de navires - Google Patents

Procede d'obtention de parametres de stabilite de navires Download PDF

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Publication number
WO2005101953A2
WO2005101953A2 PCT/ES2005/000200 ES2005000200W WO2005101953A2 WO 2005101953 A2 WO2005101953 A2 WO 2005101953A2 ES 2005000200 W ES2005000200 W ES 2005000200W WO 2005101953 A2 WO2005101953 A2 WO 2005101953A2
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WO
WIPO (PCT)
Prior art keywords
clinometer
ship
clinometers
angle
heel
Prior art date
Application number
PCT/ES2005/000200
Other languages
English (en)
Spanish (es)
Other versions
WO2005101953A3 (fr
Inventor
Mª del Rosario BRAVO RAMOS
Ricardo Abad Arroyo
Original Assignee
Universidad Politecnica De Madrid
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universidad Politecnica De Madrid filed Critical Universidad Politecnica De Madrid
Priority to EP05735897A priority Critical patent/EP1749739A2/fr
Publication of WO2005101953A2 publication Critical patent/WO2005101953A2/fr
Publication of WO2005101953A3 publication Critical patent/WO2005101953A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/20—Monitoring properties or operating parameters of vessels in operation using models or simulation, e.g. statistical models or stochastic models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers

Definitions

  • ship encompasses all of them: ships, ships, yachts, floating artifacts, semi-submersible vehicles, and so on.
  • the invention falls within the naval sector, more specifically in the experience of stability that is carried out on ships, necessary to determine the parameters related to its stability, specifically the initial metacentric height (GM) and the center of gravity.
  • GM initial metacentric height
  • the stability experience Of all the parameters that define the initial stability of a ship, the only one that cannot be determined, with the necessary precision, by theoretical calculations is the vertical position of the center of gravity. To obtain this parameter an experimental process is carried out with the ship called "the stability experience”.
  • the experience of stability is a test required by the Administration in newly built ships (before leaving the shipyard) and in all those ships that have undergone some structural modification.
  • the test is decisive to know all the indicator parameters of the stability characteristics of a ship, hence its importance and performance requirement.
  • the stability experience basically involves subjecting the ship to different known stinging pairs, usually moving weights from band to band of the ship, and measuring, for each stinging pair, the angle of heel that the ship adopts, in each of the static equilibrium situations. Also in the test other data are taken (ship's draft marks when it is gripped to obtain, by means of hydrostatic curves, the displacement and the position of the metacenter, the vessel's weight ratio (magnitude and position), both its own, that do not form part of its weight in thread, like others, free surfaces, etc.). With the information obtained and applying basic hydrostatic laws, the desired parameters are obtained: the transverse metacentric height and the vertical position of the center of gravity.
  • the traditional methodology recommends that the pendulums used be of the greatest possible length in order to achieve the greatest possible precision in the reading of the heel angle. This poses problems, sometimes, to find the right location for the pendulums in the boat and in the comfort of the observer (essential factor in the measurement) to take the readings.
  • the pendulum readings in the dynamic case differ markedly from the case in which it is a static process.
  • the pendulum remains in a fixed position and the observer has all the time necessary to perform the reading.
  • the pendulum is in constant motion, so there will be errors associated with the observer.
  • the clinometers can be classified into two large groups:
  • inertial They are those that, both static and dynamic, generate a signal proportional to the angle of inclination.
  • Gravitational They are those that take as a reference the acceleration of gravity. Actually they are accelerometers that, in static, generate a signal proportional to the sine of the inclination angle. However, in dynamic, they are affected by accelerations in the direction of the measurement.
  • the present invention incorporates an algorithm, understood as an orderly and finite set of operations that allows to find the solution of a problem, in which, from the registration of the gravitational clinometer, the component due to the angle of heel is obtained. It is adopting the ship at every moment.
  • the invention also analyzes the temporal evolution of the heel angle and establishes indexes of calicac on the measure. It also includes an original calibration / checking procedure for the heel angle measurement system in order to provide it with the reliability necessary to meet IMO requirements.
  • the system is capable of being implemented with the connections of an anemometer and a wind vane in order to record, simultaneously with the angle of the heel, the direction and speed of the wind, which will allow to increase the performance of the system, being able to carry out experiences of stability in meteorological conditions that, with the traditional methodology, would not be realized.
  • the present invention relates to a process for obtaining the stability parameters of ships, especially the initial metacentric height (GM) and the position of the center of gravity, by means of clinometer measurements and is carried out by means of three embodiments.
  • GM initial metacentric height
  • clinometer measurements are carried out by means of three embodiments.
  • the procedure for the realization of the experience of stability in ships by means of a team based on the use of clinometers is based on an algorithm developed to be able to use gravitational clinometers on ships discriminating the component of the signal due to the angle of heel, even if the ship is balancing, and in a methodology that is based on considering the states of equilibrium from a dynamic point of view taking into account the perturbations of the peer pair.
  • the procedure is materialized in a device consisting of an original clinometer calibration system and another system, which allows the evolution of the measurement to be recorded, analyzed and established reliability indices.
  • the algorithm developed also allows the center of gravity of a ship to be determined by a system independent of the stability experience.
  • the first way is to obtain the stability parameters by performing the stability experience based on the measurement and recording, by clinometers, of the angle of the boat's heel in the different equilibrium situations on which the experience of stability, as well as in the analysis of the heel angle register, which allows to consider the dynamic effects, which occur in such equilibrium situations, due to uncontrolled stinging pairs (mainly wind gusts and waves) and evaluate the areas of the register where The reliability of the heel angle measurement is greater.
  • This embodiment is applicable to both inertial and gravitational clinometers since in the case that gravitational clinometers are used an algorithm has been developed that allows filtering the component of the clinometer signal due to the angle of heel, eliminating the component due to ship's balance movement.
  • the second embodiment consists in the determination of the center of gravity of the ship by means of the analysis of the records of two gravitational clinometers located in a cradle, in the same vertical and at different heights on the baseline of the ship.
  • the third embodiment consists in determining the ship's own balance period by means of a procedure based on the spectral analysis of the balance record obtained with the clinometer. From the proper period of balance, the GM of the ship is determined from the formula that relates them:
  • the first stage consists of checking, calibrating and zeroing the clinometer and it is done on the mainland using the following parts: a coupling of the clinometer (figure 1), a leveling platform (figure 2) and different calibrated angle generators (figure 3), and following a methodology developed specifically for this purpose.
  • the material in which it constitutes the pieces must be rigid, non-deformable and with a very low coefficient of thermal expansion, less than 2x10 "5 S K " 1 , such as methacrylate.
  • the measurements of the pieces must satisfy the following conditions and there are infinite sets of measures, maintaining the proportion of the pieces, with which the parts system can be built.
  • the methodology developed is as follows:
  • the clinometer (E) is fixed to the coupling (A) as shown in Figure 1.
  • the coupling is constructed from a rectangular prism whose upper faces (where the clinometer is supported) and lower are perfectly parallel.
  • Two cylinders, D calibrated 6 mm in diameter, are housed at the ends of the lower face.
  • the cylinders are parallel and their axes are separated by a distance B of 101.56 mm, or multiples.
  • the thickness of the piece, C will be sufficient to provide rigidity to the piece, at least 10 mm.
  • the piece shown in figure 2 is placed, which is a leveling platform (K) and consisting of a horizontal board with perfectly smooth surfaces.
  • the platform is supported on the table by the three screws H, I and J.
  • the screws H and I are separated a distance (f) of at least 120 mm and in the part upper carry controls to be operated with the hands.
  • the screw J is separated by a distance (G) of at least 100 mm from the straight line that joins H and I and is embedded in the platform to allow room for maneuvers made with the clinometer.
  • the clinometer is then used as an accuracy level of one hundredth grade. To do this it is placed in the leveling direction
  • calibrated angle generators which are pieces such as the one shown in figure 3, placed on the leveling platform and in the leveling direction, with a value of L of 100.00 mm and with different values of M and N, adjusted to the hundredth of a millimeter, angles adjusted to the hundredth degree are achieved, placing the coupling piece of the clinometer (with the clinometer), represented in figure 1, on this piece, as indicated in figure 4. This is checked Clinometer calibration. If necessary, and with the help of these parts, the calibration of the clinometer is performed.
  • the clinometer is installed on the ship in a creak with its sensitive axis in the direction perpendicular to the plane of creaking. Depending on the embodiment, the procedure is different.
  • the recording will be processed by an algorithm developed to filter the clinometer signal component corresponding to the heel angle.
  • the hypotheses on which the algorithm is based are the following:
  • Disturbing signal accelerations are due to transverse accelerations induced by turns relative to an axis. • The angles that are produced must be such that the difference between the angle (expressed in radians) and the sine of the angle is less than the precision established in the measurement.
  • the duration of the records is recommended to be of the order of 100 times the ship's own balance period.
  • the last stage consists in the analysis of the records of the evolution in time of the angle ce escora, obtained in the previous stage. . _.
  • the analysis consists in determining the area of the register in which the uncontrolled peer pairs (due to gusts of wind, waves, etc.) have been minimal. To do this, first, the sequence of maximums and minimums of the registry and the moments in which these maximums and minimums are produced are established. Then, from the previous relationship, a new relationship of the boat's heel angles is defined, together with the instants in which they occur, corresponding to the stinging pairs that have acted on the boat during registration. Finally, by making a statistical analysis of this last relation, the optimum register area is defined and with it the heel angle associated with the register, which will be the average of the heel angles of the optimum register area and the error associated with the measurement of the angle. of heel, which will be the mean square error of said heel angles.
  • the analysis of the records is based on the algorithm developed to "filter" the heel angle component of the signals produced by the two clinometers. gravitational
  • the analysis of the records consists of a procedure based on the Fourier transform. Description of the figures.
  • Figure 1 represents the coupling (A) of the clinometer (E).
  • Said coupling is constructed from a rectangular prism whose upper (where the clinometer is supported) and lower faces are perfectly parallel.
  • Two cylinders, D, calibrated 6 mm in diameter, are housed at the ends of the lower face.
  • the cylinders are parallel and their axes are separated by a distance B of 101.56 mm, or multiples.
  • the thickness of the piece, C will be sufficient to provide rigidity to the piece, at least 10 mm.
  • Figure 2 represents the leveling platform (K) and consists of a horizontal board with perfectly smooth surfaces.
  • the platform is supported on the table by the three screws H, I and J.
  • the screws H and I are separated by a distance (F) of at least 120 mm and at the top they have controls to be able to be operated with the hands.
  • the screw J is separated a distance (G) of at least 100 mm from the straight line that joins H and I and is embedded in the platform to leave room for the maneuvers made with the clinometer.
  • Figure 3 represents the generators of calibrated angles, which are U-shaped pieces, with a value of L of 100.00 mm, or multiples and with different values of M and N, adjusted to the hundredth of a millimeter, angles adjusted to The hundredth grade.
  • Figure 4 indicates how to place the different pieces to get the angles calibrated to the hundredth grade.
  • the calibrated angle generator ( ⁇ ) is placed on the stabilizer platform (K) and on it, the coupling piece of the clinometer (A) (with the clinometer (E)).
  • the angle at which the clinometer is subjected in the figure is arcsen (N / B). If the coupling piece (A) (with the clinometer (E)) is turned 180 Q , the angle obtained is -arcsen (N. B).
  • the procedure for obtaining the stability parameters by means of the invention consists in making the stability experience, but using the clinometer instead of the pendulum for the measurement of the heel angle.
  • the stages of this embodiment are the following:
  • the clinometer (E) is placed in its coupling piece (A), with the different angles provided by the calibrated angle generators ( ⁇ ), which, in turn, are on the leveling platform (K), and the clinometer calibration is checked. If necessary, and with the help of these parts, the clinometer is recalibrated.
  • an estimated value of the position of the ship's center of gravity is assigned.
  • the process is then executed obtaining the position of the center of gravity of the ship.
  • the process is repeated with the value of the position of the center of gravity of the ship obtained in the first iteration, and so on.
  • the process converges in two iterations.
  • h the distance from it to the horizontal axis that passes through the center of gravity of the ship
  • ⁇ the amplitude of the angle of heel corresponding to the harmonic
  • g the acceleration of gravity
  • ⁇ the angular frequency of the harmonic
  • C the amplitude of the clinometer signal corresponding to the harmonic
  • This table eliminates those pairs of consecutive maximums and minimums whose time separation is less than 1.5 seconds (harmonic filtering whose period is less than 3 seconds).
  • the areas of instability of the measurement can be appreciated, those in which uncontrolled random pairs have been produced of a random nature and the most stable register zone can be selected.
  • a routine is constructed by means of which the continuous zone of the one-minute recording is selected whose average square error of the values contained in the zone is minimal.
  • the average value of the values of that zone will be the value assigned to the heel angle.
  • the quality index will be the mean square error and in cases where there is not a sufficiently stable area of the record, it is recommended to repeat the measure.
  • the previous routine will allow to "control" the uncontrolled random pairs of random nature (accidental errors), however when uniform uncontrolled pairs (systematic errors) occur, for example a constant wind on the side of the ship, the previous routine is not Able to detect this error.
  • the equipment is implemented with one (or several) anemometer (s) and wind vane (s) to simultaneously register the information with the angle of heel. This information will allow “control” of systematic measurement errors due to wind.
  • 2nd embodiment of the invention Determination of the height of the center of gravity of a ship by means of the simultaneous registration of two gravitational clinometers.
  • the algorithm developed to "filter" the heel angle component of the signals produced by gravitational clinometers can have a second application and is the direct determination of the center of gravity of a ship.
  • a set of KG values (distance from the ship's cd.g. to the baseline) is established by setting a minimum KG, a maximum KG and an increase in KG.
  • LM and dM will depend on the type of ship and, without loss of generality, suppose that dM is equal to 20 seconds and LM equal to 300 seconds.
  • the first sample will start at the zero instant and end at the instant LM (300), the second sample will start at the instant dM (20) and will end at LM + dM (320), and so on until you reach the sample that starts at LP (1000) and ends in LP + LM (1300).
  • the first LM (300) seconds have been added to the main register.
  • K being the coefficient obtained in the tests carried out with the ship and B its sleeve.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Probability & Statistics with Applications (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Testing Of Balance (AREA)

Abstract

L'invention concerne un procédé permettant de tester la stabilité des navires à l'aide de clinomètres gravitationnels. Ledit procédé est basé sur un algorithme permettant d'utiliser des clinomètres gravitationnels dans des navires discriminant la composante du signal due à l'angle de gîte, malgré le balancement du navire, et sur une méthodologie basée sur la considération des états d'équilibre d'un point de vue dynamique, en tenant compte des perturbations du couple de gîte, à la différence du point de vue classique, basé sur une considération statique du processus. Le procédé est mis en oeuvre à l'aide d'un équipement comprenant un système original de calibrage du clinomètre et un autre système, permettant d'enregistrer l'évolution dans le temps de la mesure, de l'analyser et d'établir des indices de fiabilité. Le système mis au point permet également de déterminer le centre de gravité d'un navire à l'aide d'un nouveau système et indépendamment du test de stabilité.
PCT/ES2005/000200 2004-04-22 2005-04-19 Procede d'obtention de parametres de stabilite de navires WO2005101953A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP05735897A EP1749739A2 (fr) 2004-04-22 2005-04-19 Procede d'obtention de parametres de stabilite de navires

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200400975A ES2242533B2 (es) 2004-04-22 2004-04-22 Procedimiento para la obtencion de los parametros de estabilidad de barcos mediante medidas con clinometros.
ESP200400975 2004-04-22

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WO2005101953A2 true WO2005101953A2 (fr) 2005-11-03
WO2005101953A3 WO2005101953A3 (fr) 2007-03-22

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WO (1) WO2005101953A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109178203B (zh) * 2018-08-15 2020-05-05 上海交通大学 一种浮托安装实测的船体姿态校准方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4647928A (en) * 1984-02-06 1987-03-03 Marine Partners Stability indicator for marine vessel
US4858137A (en) * 1985-08-31 1989-08-15 The British Petroleum Company P.L.C. Determination of the stability of floating structures
US4918628A (en) * 1985-12-18 1990-04-17 University Of Southampton Stability meter for floating objects
WO2004002815A1 (fr) * 2002-06-27 2004-01-08 Kranskan Limited Procede et appareil pour le suivi des conditions de surete des navires

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57149935A (en) * 1981-03-11 1982-09-16 Utsuki Keiki:Kk Gm measuring device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4647928A (en) * 1984-02-06 1987-03-03 Marine Partners Stability indicator for marine vessel
US4858137A (en) * 1985-08-31 1989-08-15 The British Petroleum Company P.L.C. Determination of the stability of floating structures
US4918628A (en) * 1985-12-18 1990-04-17 University Of Southampton Stability meter for floating objects
WO2004002815A1 (fr) * 2002-06-27 2004-01-08 Kranskan Limited Procede et appareil pour le suivi des conditions de surete des navires

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 6, no. 252 10 December 1982 & JP 57 149935 A (UTSUKI KEIKI KK) 16 September 1982 *

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Publication number Publication date
WO2005101953A3 (fr) 2007-03-22
ES2242533A1 (es) 2005-11-01
EP1749739A2 (fr) 2007-02-07
ES2242533B2 (es) 2007-10-01

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