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1
Content available Fault identification in underwater vehicle thrusters via sliding mode observers
Zuev Alexander, Zhirabok Alexey, Filaretov Vladimir
International Journal of Applied Mathematics and Computer Science
|
2020
|
Vol. 30, no. 4
679--688
EN
The paper is devoted to the problem of increasing the efficiency of underwater vehicles by using a fault diagnosis system for their thrusters which provides detection, isolation, and identification of minor faults. To address the problem, a two-stage method is proposed. At the first stage, a bank of diagnostic observers is designed to detect and isolate the emerging faults. Each observer in this bank is constructed to be sensitive to some set of faults and insensitive to others. At the second stage, additional observers working in sliding mode are synthesized in order to accurately estimate the error value in the signal obtained from the angular velocity sensor and to estimate deviations of the thruster parameters from their nominal values due to the faults. In contrast to the existing solutions, reduced-order (i.e., lower-dimensional) models of the original system are proposed as a basis to construct sliding mode observers. This approach permits reduction of the complexity of the obtained observers in comparison with the known methods, where full-order observers are constructed. The simulation results show the efficiency and high quality of all synthesized observers. In all cases considered, it was possible to detect typical faults, as well as estimate their values.
2
Content available Innovative project of propellers and thrusters jet loads during ship berthing monitoring system
Abramowicz-Gerigk T., Burciu Z., Hapke Ł.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2019
|
Vol. 13. no. 4
861--865
EN
The growing number of large high powered vessels operated in shallow water ports is the reason that port authorities and terminal operators are interested in online monitoring of loads generated by vessels during manoeuvers close to hydrotechnical constructions. The test version of the loads measurement system based on the mobile laboratory and commercial version of monitoring system based on the cloud technology are presented in the paper.
3
Content available Comparison of the Calculated Wind Loads to the Power Generated by the Main Propulsion and Thrusters of the Ship with the Results of Simulation Tests
Formela K.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2018
|
Vol. 12, no. 2
315--319
EN
One of the main factors affecting the safe port maneuvers by ships is wind, which directly affects the ship's movement. The article presents a comparison of calculated wind loads to the power generated by thrusters and the main propulsion of the ship with the results of simulation tests in order to determine the safe wind force limits allowing safe port maneuvers with a particular ship model.
4
Content available remote Koncepcja diagnostyki elektrycznego pędnika okrętowego
Dęsoł M.
Zeszyty Naukowe Akademii Morskiej w Gdyni
|
2017
|
nr 98
27--34
PL
Artykuł przedstawia możliwości implementacji algorytmów diagnostyki elektrycznego pędnika okrętowego do systemów monitoringu i sterowania siłownią okrętową. Stany awaryjne wynikające z eksploatacji pędników okrętowych wraz z ich odpowiednią interpretacją mają zapewnić wyższy poziom bezpieczeństwa dla załogi oraz zmniejszyć awaryjność danych układów. Dokładna analiza stanów ma zostać zoptymalizowana za pomocą bazy reguł systemu eksperckiego wraz z metodami sztucznej inteligencji.
EN
The article presents the possibility of implementation of algorithms for diagnostic electric azimuth thruster ship to ship’s monitoring and control systems. States of emergency arising from the operation of thrusters, along with right interpretation provide higher level of safety for the crew and reduce the failure rate in systems. A thorough analysis should be accelerated and expanded with help of expert system rule base, together with the methods of artificial intelligence.
5
Elementy dynamiki pędników w sterowaniu obiektów autonomicznych
Małecki J., Garus J.
Prace Naukowe Politechniki Warszawskiej. Elektronika
|
2014
|
z. 194, t. 2
383--392
PL
W artykule przedstawiano wybrane aspekty związane z dynamiką pędników zastosowanych do sterowania małą autonomiczną jednostką pływającą. Dla jej precyzyjnego prowadzenia, przy małej prędkości przemieszczania się, wykorzystuje się układy będące modyfikacją steru konwencjonalnego, śruby napędowej i aktywnych urządzeń sterowych. Poddano analizie wybrane cechy charakteryzujące proces sterowania precyzyjnego w celu zapewnienia należytej efektywności sterowania wykorzystując do tego badania symulacyjne. Badania te odniesiono do wyników prób morskich otrzymanych dla rzeczywistej małej jednostki pływającej.
EN
In the papier is presented some aspects related to the dynamics of thrusters used to control a small autonomous object. For its precise control in low speed movement uses a modification of systems that are conventional rudder, propeller and active steering systems. We are aanalyzed a selected characteristics of precision control process to ensure proper controll efficiency using the simulation studies. These studies are related to a sea tnal results obtained for the real small vessel.
6
Content available The prototype project of the position to designate the screw thruster lobe specific gravity
Kończewicz W., Stępkowski M., Skowroński M., Iwanicki L.
Journal of KONES
|
2014
|
Vol. 21, No. 3
165--170
EN
During the exploitation screw thruster, lobes are being defected in many ways. Sample types of damages are as follow: the material damages caused by cavitation, corrosion, deflection. In order to facilitate and to improve the quality of repairing activities, the idea of make the position to designate screw thruster lobes specific gravity has been initiated by Rolls-Royce Poland Company and Nautica Academic Circle. Incorrect lobes balance influences on irregular work of the screw, which results in the occurrence of adverse effects such as generation of vibration or increasing probability of mechanical elements damages during the exploitation. Screw thruster lobe specific gravity designation helps in identification of areas for treatment (welding, grinding) to achieve the desired parameters. The creation of designate screw thruster lobes specific gravity position gave the possibility of using the innovative scanning in 3D, which shows very clearly the picture of the scanning item. With Scanect and Autodesk Inventor 2014 software, we can manipulate the resulting image. This makes possibility of the lobes gabarits measurement. What is more, it designates the specific gravity exact to 10%.It increases the quality of the lobe renovation and these results in an improvement the screw thruster lobe’s work efficiency.The cooperation of The Maritime University in Gdynia and Rolls-Royce Poland Company resulted in creating the prototype, which will be tested by service technics in working circumstances.
7
Content available Resistojet thruster with a power system based on supercapacitors
Mezyk L., Kobiera A., Boruc L., Biczel P., Wolanski P.
Challenges of Modern Technology
|
2014
|
Vol. 5, no. 3
13--21
EN
This paper presents research into a resistojet model that can be powered by supercapacitors for satellite propulsion applications. The performance of the system, calculated including a preliminary study of mass and power budget, shows that this solution has potential for a certain range of space missions. The main problem when designing a pulsed resistojet is the compromise between the thermal capacity of the resistojet and the heat transfer efficiency of the device. When the heater is used in pulsed mode, it should have low mass and thermal capacity in order to reduce the energy required to heat the devices. On the other hand, the main technical restriction in resistojet thrusters is heat transfer due to the laminar regime of the flow in the heater. The heat transfer area should be as large as possible, but the mass of the device limits any such increase in area. In this research several design options were considered in an attempt to find the optimal solution. After research on the oscillating element and porous heater, capillary tubes directly heated by the current were determined to be the most effective solution. A power supply based on supercapacitors was constructed. It consists of 30 supercapacitors of 300 F each, connected to deliver 70 V of voltage, 10F of total capacitance and maximum peak power of 5 kW. Research for three different gases – ammonia, propane and butane – was conducted and the results are presented in this paper.
8
Content available Theoretical and experimental methods for prediction the propeller jet hydrodynamic loads
Lewczuk Ł., Abramowicz-Gerigk T., Burciu Z.
Zeszyty Naukowe / Akademia Morska w Szczecinie
|
2013
|
nr 36 (108) z. 1
105--109
EN
The paper presents the theoretical and experimental methods used in scientific and operational practice to predict the hydrodynamic loads generated by propellers and thrusters on the hydrotechnical constructions. The influence of different parameters: pitch and rotational speed of the propeller, aft body form of the ship hull and shallow water effect on the velocity field are discussed.
9
Content available remote Modelowanie wpływu obwodów zasilania na pracę odbiorników systemu elektroenergetycznego statku
Arendt R.
Przegląd Elektrotechniczny
|
2012
|
R. 88, nr 4a
141-146
PL
Duże odbiorniki energii elektrycznej na statkach, a zwłaszcza silniki indukcyjne charakteryzują się zmiennym poborem prądu. Przy ocenie wpływu obwodów zasilania na pracę odbiorników należy stosować złożone modele matematyczne. W artykule zaproponowano zastosowanie oryginalnego modelu węzła, który umożliwia modelowanie połączenia szeregowego dwóch oddzielnych elementów: obwodu zasilania i odbiornika, bez obliczania przepływu prądu. Pracę węzła zilustrowano badaniami symulacyjnymi steru strumieniowego statku.
EN
Big ship electric loads, especially induction motors have variant power absorption. At evaluation of an influence of electric power supply on loads work, complex mathematical models should be applied. In the paper an application of original series connection node is proposed. It enables modeling of two separate elements series connected: electric power supply circuit and load, without current flow computation. The series node work basing ship thruster simulations is illustrated.
10
Content available Ring thruster – a preliminary optimisation study
Matuszewski L.
Polish Maritime Research
|
2009
|
nr 1
43-46
EN
The ring thruster is a new type of propeller, for which there is no experimental data to verify analytical design calculations. A significant feature of the ring thruster is the absence of a shaft. Propeller blades are mounted to the ring rotating inside the housing, which has the shape of a nozzle. For this reason the ring thruster is closest, with respect to both the construction and principle of operation, to the Kort nozzle propeller. The absence of a shaft and no gap between the blades and the nozzle make it impossible to fully relay on results obtained from Kort nozzle propeller examination. What is more, the already existing computer codes developed for designing Kort nozzle propellers cannot be directly used for designing ring thrusters either. That is why for this purpose a new code determining hydrodynamic characteristics based on the theory of the vortex lifting surface will be used. When using the above method, some differences between calculated and experimentally recorded results are expected to be observed. To a significant extent, the level of the torque taken by the thruster will be affected by drag of the rotating ring to which the blades are fixed. Examining a propeller equipped with a rotating ring has revealed that the expected torque increment may reach as much as a few per cent, at the comparable level of axial force (thrust). At the present stage of ring propeller investigations there is no data available on how to shape the ring propeller blades. Possible comparison calculations, done using the existing computer code, will allow, the most, the shape of the blades to be determined for preliminary tests in the cavitation tunnel and on a selfpropelled model. And only the results obtained in these tests will provide opportunities for verification of preliminary design calculations. It should be stressed, however, that developing design procedures for this type of propellers will require additional optimisation calculations, with further experimental verification. And this should be the subject of separate investigations.
11
Content available remote Some problems of berthing of ships with non-conventional propulsions
Koziol W., Galor W.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2007
|
Vol. 1, no. 3
319--324
EN
The berthing manoeuvre of ship is the last stage of navigation process. The safety of berthing depends on velocity due impact the quay. In case of ships with non-conventional propulsion (mainly two stern screws and few thrust propellers) the berthing manoeuvres are different then other ships. The paper presents an analysis the kind of ships power and their manoeuvrability features in aspect of safety berthing.
12
Content available remote Ring thruster – a preliminary optimisation study
Matuszewski L.
Polish Maritime Research
|
2007
|
S 1
67-70
13
Content available The development of specialized ship's propulsion systems with the aim of improving their manoeuvring ability in the aspect of navigation safety
Herdzik J.
Journal of KONES
|
2007
|
Vol. 14, No. 3
211-218
EN
The paper presents the development of specialized ship's propulsion system during last twenty years. It was shown some applied solutions of propulsion systems and what aims were achieved: improving of manoeuvring ability, the achievement ofpropulsion system's high efficiency in very large range from the idling to full load and the increasing of navigation safety. Ship propulsion systems are more often applied, especially for ships which operate on the sea in special ways and need: ship positioning, very high manoeuvring abilities, other ships services, self manoeuvring even for cruise ships. These propulsion systems are not needed applying the steering gears. These functions: steering and propulsion do thrusters, which in these cases are built in twin systems. It ensures possibilities of ship's propulsion (motion) keeping, even in case of failure in one propulsion system. For reason of sea traffic increasing, especially on sea area, when this traffic needs co-ordination (VTS stations), ship equipped in modern propulsion system should ensure greater navigation safety for herself and should decrease collision risk for other ships situated on this sea area. The usage high-performance and efficiency active powerplants is a key for the enlargement of the safety of sea shipping.
PL
W artykule przedstawiono rozwój układów napędowych specjalistycznych statków w okresie ostatnich dwudziestu lat. Podano stosowane rozwiązania oraz jakie cele udało się osiągnąć: zwiększenie zdolności manewrowych jednostek, uzyskanie wysokiej sprawności układów napędowych w szerokim zakresie obciążeń od biegu jałowego do obciążenia nominalnego oraz podniesienie bezpieczeństwa żeglugi. Układy napędowe z nowoczesnymi pędnikami są coraz powszechniej stosowane, szczególnie dla statków, które uprawiają nietypowążeglugę i wymagają: pozycjonowania jednostki, wysokich zdolności manewrowych, obsługi innych statków, samodzielnego manewrowania nawet w przypadku dużych statków pasażerskich. Układy te nie wymagają stosowania tradycyjnych maszyn sterowych. Funkcje sterowania i napędu jednostki spełniają pędniki, które z tego powodu budowane są minimum w układach podwójnych. W związku ze zwiększaniem się ruchu morskiego, szczególnie na akwenach, na których ruch ten wymaga koordynacji (stacji kierowania ruchem), statek posiadający nowoczesny układ napędowy będzie w stanie zapewnić bezpiecznążeglugę dla siebie i zmniejszyć zagrożenie kolizyjne w stosunku do wszystkich jednostek znajdujących się na danym akwenie. Stosowanie wysokosprawnych pędników aktywnych jest kluczem do zwiększenia bezpieczeństwa żeglugi.
14
Content available Wpływ obciążenia chwilowego na proces diagnozowania agregatów typu ster strumieniowy
Burnos T.
Diagnostyka
|
2007
|
nr 1(41)
45-48
PL
W artykule omówiono wpływ zmiennych warunków obciążenia na proces diagnozowania okrętowych sterów strumieniowych. Wykazano konieczność uwzględnienia w procesie diagnozowania chwilowego obciążenia agregatu. Przytoczono przykład wykorzystania opracowanej metody w odniesieniu do wybranego sygnału diagnostycznego.
EN
The impact of temporary load on thruster condition monitoring process is presented in the paper. The necessity to consider the temporary load in condition monitoring process is shown. An example of diagnostic signal analyze with described method is presented.
15
Content available Diagnozowanie przekładni okrętowych sterów strumieniowych
Burnos T.
Zeszyty Naukowe / Akademia Morska w Szczecinie
|
2006
|
nr 10 (82)
129-138
PL
W artykule podjęto próbę wykazania związków pomiędzy sygnałami rejestrowanymi na elementach steru strumieniowego i wymuszeniami pochodzącymi od jego pracy. Pre-zentowane wyniki są częścią prac zorientowanych na stworzenie modelu diagnostycznego steru strumieniowego, ujmującego związki pomiędzy stanem najważniejszych elementów agregatu a miarami sygnałów generowanych przez urządzenie.
EN
The relation between signals measured on tunnel thruster elements and forces coming from the operation of thruster gearbox elements is shown in the paper. The presented results are part of the work aimed at the development of a condition monitoring model of a marine tunnel thruster.
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