A compact motion controller-based planar motion mechanism for captive manoeuvring tests

M. Cansın Özden; Sertaç Kurdoğlu; Ersin Demir; Kadir Sarıöz; Ömer Gören

doi:10.1016/j.oceaneng.2020.108195

A compact motion controller-based planar motion mechanism for captive manoeuvring tests

M. Cansın Özden^*, Sertaç Kurdoğlu, Ersin Demir, Kadir Sarıöz, Ömer Gören

^*Corresponding author for this work

Istanbul Technical University

Research output: Contribution to journal › Review article › peer-review

2 Citations (Scopus)

Abstract

This paper describes a compact planar motion mechanism based captive ship model manoeuvring test system designed and developed at Istanbul Technical University (ITU). The system, designated as ITU-PMM, is particularly designed to be light and simple to be installed on the existing towing carriage in a 160-m-long towing tank. The main components of the motion controller based system are; two servo-motors with high precision encoders, a reduction gear with very low backlash for yaw motion, precision linear motion ball-screws, a six component load cell for force and moment measurements and a data acquisition system. ITU-PMM is primarily designed to perform standard captive manoeuvring tests, including the static tests such as steady drift and oblique towing with rudder deflection and the dynamic tests such as pure sway, pure yaw and yaw and drift. However, since the servo motors are independently controlled non-standard tests could also be carried out. In order to calibrate and validate the system standard PMM tests were carried out with a SIMMAN 2008 benchmark case model (DTMB 5415) representing high speed displacement vessel. The measured forces and moment and the derived manoeuvring derivatives are compared with those obtained by major test facilities. The sensitivity of the system is verified by an uncertainty analysis.

Original language	English
Article number	108195
Journal	Ocean Engineering
Volume	220
DOIs	https://doi.org/10.1016/j.oceaneng.2020.108195
Publication status	Published - 15 Jan 2021

Bibliographical note

Publisher Copyright:
© 2020 Elsevier Ltd

Funding

The present project is fully supported by the Presidency of Defence Industries of Turkey under the Contract No. 991-LST00-0090-001-000-0 . We are thankful to Prof. Y. Toda of Osaka Univ. for his kind help and patience in the determination of the specifications of the loadcell and also to Dr. Emel Tokgoz for her kind help from Japan. Our special thanks go to Prof. F. Stern of Univ. Iowa for his valuable evaluations on ITU-PMM, to Prof. S. Kurtulan of ITU for helping and allowing us freely to use the facilities of the control engineering labs at ITU and to Prof. K. Hasegawa of Osaka Univ., Dr. Y. Sanada of Univ. Iowa, Prof. A. Cura-Hochbaum of TU Berlin for their helpful discussions. Thanks are also due to Dr. D.B. Danışman and the technicians of ITU Ata Nutku Ship Model Testing Laboratory. The present project is fully supported by the Presidency of Defence Industries of Turkey under the Contract No. 991-LST00-0090-001-000-0. We are thankful to Prof. Y. Toda of Osaka Univ. for his kind help and patience in the determination of the specifications of the loadcell and also to Dr. Emel Tokgoz for her kind help from Japan. Our special thanks go to Prof. F. Stern of Univ. Iowa for his valuable evaluations on ITU-PMM, to Prof. S. Kurtulan of ITU for helping and allowing us freely to use the facilities of the control engineering labs at ITU and to Prof. K. Hasegawa of Osaka Univ. Dr. Y. Sanada of Univ. Iowa, Prof. A. Cura-Hochbaum of TU Berlin for their helpful discussions. Thanks are also due to Dr. D.B. Dan??man and the technicians of ITU Ata Nutku Ship Model Testing Laboratory.

Funders	Funder number
ITU Ata Nutku Ship Model Testing Laboratory
Presidency of Defence Industries of Turkey	991-LST00-0090-001-000-0
International Technological University

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Cite this

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title = "A compact motion controller-based planar motion mechanism for captive manoeuvring tests",

abstract = "This paper describes a compact planar motion mechanism based captive ship model manoeuvring test system designed and developed at Istanbul Technical University (ITU). The system, designated as ITU-PMM, is particularly designed to be light and simple to be installed on the existing towing carriage in a 160-m-long towing tank. The main components of the motion controller based system are; two servo-motors with high precision encoders, a reduction gear with very low backlash for yaw motion, precision linear motion ball-screws, a six component load cell for force and moment measurements and a data acquisition system. ITU-PMM is primarily designed to perform standard captive manoeuvring tests, including the static tests such as steady drift and oblique towing with rudder deflection and the dynamic tests such as pure sway, pure yaw and yaw and drift. However, since the servo motors are independently controlled non-standard tests could also be carried out. In order to calibrate and validate the system standard PMM tests were carried out with a SIMMAN 2008 benchmark case model (DTMB 5415) representing high speed displacement vessel. The measured forces and moment and the derived manoeuvring derivatives are compared with those obtained by major test facilities. The sensitivity of the system is verified by an uncertainty analysis.",

author = "{\"O}zden, {M. Cansın} and Serta{\c c} Kurdoğlu and Ersin Demir and Kadir Sarı{\"o}z and {\"O}mer G{\"o}ren",

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AU - Gören, Ömer

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AB - This paper describes a compact planar motion mechanism based captive ship model manoeuvring test system designed and developed at Istanbul Technical University (ITU). The system, designated as ITU-PMM, is particularly designed to be light and simple to be installed on the existing towing carriage in a 160-m-long towing tank. The main components of the motion controller based system are; two servo-motors with high precision encoders, a reduction gear with very low backlash for yaw motion, precision linear motion ball-screws, a six component load cell for force and moment measurements and a data acquisition system. ITU-PMM is primarily designed to perform standard captive manoeuvring tests, including the static tests such as steady drift and oblique towing with rudder deflection and the dynamic tests such as pure sway, pure yaw and yaw and drift. However, since the servo motors are independently controlled non-standard tests could also be carried out. In order to calibrate and validate the system standard PMM tests were carried out with a SIMMAN 2008 benchmark case model (DTMB 5415) representing high speed displacement vessel. The measured forces and moment and the derived manoeuvring derivatives are compared with those obtained by major test facilities. The sensitivity of the system is verified by an uncertainty analysis.

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A compact motion controller-based planar motion mechanism for captive manoeuvring tests

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