Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels
In this paper, we address modelling and simulation of dynamics involved in docking of large marine vessels with aid of tugboats, with the aim of providing a tool for improved design of control algorithms for autonomous docking operations. Mathematical models of the docking vessel and tugboats in 3DO...
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Online Access: | https://hdl.handle.net/10037/32026 https://doi.org/10.1016/j.simpat.2023.102866 |
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ftunivtroemsoe:oai:munin.uit.no:10037/32026 2024-01-07T09:44:50+01:00 Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels Kristiansen, Raymond Ørke, Henning Gravdahl, Jan Tommy 2023-11-22 https://hdl.handle.net/10037/32026 https://doi.org/10.1016/j.simpat.2023.102866 eng eng Elsevier Simulation modelling practice and theory Kristiansen, Ørke, Gravdahl. Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels. Simulation modelling practice and theory. 2023 FRIDAID 2209029 doi:10.1016/j.simpat.2023.102866 1569-190X 1878-1462 https://hdl.handle.net/10037/32026 Attribution 4.0 International (CC BY 4.0) openAccess Copyright 2023 The Author(s) https://creativecommons.org/licenses/by/4.0 Journal article Tidsskriftartikkel Peer reviewed publishedVersion 2023 ftunivtroemsoe https://doi.org/10.1016/j.simpat.2023.102866 2023-12-14T00:08:06Z In this paper, we address modelling and simulation of dynamics involved in docking of large marine vessels with aid of tugboats, with the aim of providing a tool for improved design of control algorithms for autonomous docking operations. Mathematical models of the docking vessel and tugboats in 3DOF are derived, with a special focus on realistic interactions through towline, contact and friction forces with stick–slip dynamics and time delays, which are typically not considered in previous publications on the topic. We also present the implementation of the developed models in the first step towards a Simulink simulator in which considers the special case of tugboat-assisted docking operations in the Narvik harbour. The developed simulator is available on GitHub (see Ørke et al. (2023)) and encompasses model dynamics, tugboat control and vessel control and guidance, although the scope of this paper is model dynamics. We present simulation results that show that we are indeed able to capture interaction dynamics in a realistic way. Finally, we include a discussion of our results and some ideas for further development, as well as some concluding remarks. Article in Journal/Newspaper Narvik Narvik University of Tromsø: Munin Open Research Archive Narvik ENVELOPE(17.427,17.427,68.438,68.438) Simulation Modelling Practice and Theory 130 102866 |
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Open Polar |
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University of Tromsø: Munin Open Research Archive |
op_collection_id |
ftunivtroemsoe |
language |
English |
description |
In this paper, we address modelling and simulation of dynamics involved in docking of large marine vessels with aid of tugboats, with the aim of providing a tool for improved design of control algorithms for autonomous docking operations. Mathematical models of the docking vessel and tugboats in 3DOF are derived, with a special focus on realistic interactions through towline, contact and friction forces with stick–slip dynamics and time delays, which are typically not considered in previous publications on the topic. We also present the implementation of the developed models in the first step towards a Simulink simulator in which considers the special case of tugboat-assisted docking operations in the Narvik harbour. The developed simulator is available on GitHub (see Ørke et al. (2023)) and encompasses model dynamics, tugboat control and vessel control and guidance, although the scope of this paper is model dynamics. We present simulation results that show that we are indeed able to capture interaction dynamics in a realistic way. Finally, we include a discussion of our results and some ideas for further development, as well as some concluding remarks. |
format |
Article in Journal/Newspaper |
author |
Kristiansen, Raymond Ørke, Henning Gravdahl, Jan Tommy |
spellingShingle |
Kristiansen, Raymond Ørke, Henning Gravdahl, Jan Tommy Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels |
author_facet |
Kristiansen, Raymond Ørke, Henning Gravdahl, Jan Tommy |
author_sort |
Kristiansen, Raymond |
title |
Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels |
title_short |
Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels |
title_full |
Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels |
title_fullStr |
Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels |
title_full_unstemmed |
Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels |
title_sort |
modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels |
publisher |
Elsevier |
publishDate |
2023 |
url |
https://hdl.handle.net/10037/32026 https://doi.org/10.1016/j.simpat.2023.102866 |
long_lat |
ENVELOPE(17.427,17.427,68.438,68.438) |
geographic |
Narvik |
geographic_facet |
Narvik |
genre |
Narvik Narvik |
genre_facet |
Narvik Narvik |
op_relation |
Simulation modelling practice and theory Kristiansen, Ørke, Gravdahl. Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels. Simulation modelling practice and theory. 2023 FRIDAID 2209029 doi:10.1016/j.simpat.2023.102866 1569-190X 1878-1462 https://hdl.handle.net/10037/32026 |
op_rights |
Attribution 4.0 International (CC BY 4.0) openAccess Copyright 2023 The Author(s) https://creativecommons.org/licenses/by/4.0 |
op_doi |
https://doi.org/10.1016/j.simpat.2023.102866 |
container_title |
Simulation Modelling Practice and Theory |
container_volume |
130 |
container_start_page |
102866 |
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1787426274631745536 |