Hardware-Based Simulator for Hydrodynamic Pitch and Roll Behavior of Marine Vehicles

Abstract

This study presents the design of a hardware-based simulator to examine the impact of sea waves on ship navigation sensors. The objective is to create a cost-efficient, easily deployable, and effective simulator. The study considers the pitch and roll movements arising from the wave-heave relationship. A simulator comprising a single rotary actuator is built for this purpose. The mathematical model characterizing the ship-wave interaction is employed to obtain the motion profile. A sequence control with a real-time control parameter update algorithm is developed to track the motion profile. The simulator’s performance is validated through experimental studies. The simulator demonstrates a tracking error of less than 0.012 radians. The simulator may also utilize motion profiles established via various wave-ship models. The compact dimensions of the simulator facilitate on-site testing and analysis.

Keywords

• Hardware-in the loop
• rotation simulator
• motion profile control
• sequence controller

Deniz Araçlarının Hidrodinamik Yunuslama ve Yuvarlanma İçin Davranışı Donanım Tabanlı Simülatör

Abstract

Bu çalışma, deniz dalgalarının gemi navigasyon sensörleri üzerindeki etkisini incelemek için tasarlanmış donanım tabanlı bir simülatör sunmaktadır. Amaç, maliyet etkin, kolayca konuşlandırılabilir ve etkili bir simülatör oluşturmaktır. Çalışma, dalga-yükselme ilişkisi sonucunda ortaya çıkan yunuslama ve yuvarlanma hareketlerini dikkate alır. Bu amaçla tek bir döner aktüatör içeren bir simülatör inşa edilmiştir. Gemi-dalga etkileşimini karakterize eden matematiksel model, hareket profilini elde etmek için kullanılır. Hareket profilini takip etmek için gerçek zamanlı kontrol parametre güncelleme algoritmasına sahip bir sıralama kontrolü geliştirilmiştir. Simülatörün performansı deneysel çalışmalarla doğrulanmıştır. Simülatör, 0.012 radyan'dan daha az izleme hatası sahiptir. Simülatör, çeşitli dalga-gemi modelleri aracılığıyla oluşturulan hareket profillerin de kullanabilir. Simülatörün kompakt boyutları, yerinde test ve analiz yapılmasını kolaylaştırır.

Keywords

• Donanım döngüsü, döndürme simülatörü, hareket profili kontrolü, sıralı kontrolcü

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