Crown Princess - PowerPoint PPT Presentation

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Crown Princess

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Crown Princess – PowerPoint PPT presentation

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Title: Crown Princess


1
Crown Princess
  • Vessel Dynamics

2
Overview
  • Ship dynamics under INS
  • 2nd officers manual inputs
  • Two opposing heeling responses
  • Lag between wheel input and rudder/ship response
  • Motion cues

3
Primary Motion
  • Yaw Axis
  • Heading
  • Turn rate
  • Turn acceleration
  • Roll Axis
  • Heel angle
  • Heel rate
  • Heel acceleration

4
Recorded Motion
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8
Turning a ship
  • Wheel command to rudder

9
Rudder force
10
Rudder force
11
Rudder force
12
Rudder force
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19
Ships Response to Rudder
20
Direct Rudder Heeling Moment
21
Direct Rudder Heeling Moment
22
Response Lag
  • Direct rudder effect
  • Immediate heel response to rudder
  • Sideslip effect
  • Ship must first yaw in response to rudder
  • Takes longer
  • Much stronger

23
Saturated Rudder
24
Manual Steering
25
Motion Cues
  • Positive correlation with
  • Heel angular acceleration
  • Heel rate

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Summary
  • The 2nd officers commanded rudder changes faster
    than the rudder could respond
  • During a 30 deg starboard rudder command the
    rudder actually port

33
Summary (cont.)
  • Two effects of rudder on heel
  • Short term direct response in direction of rudder
    input
  • Longer term more powerful sideslip effect in
    opposite direction

34
Summary (cont.)
  • Rudder commands modulated heel rate (while turn
    rate continued to increase)
  • Port rudder initially slowed starboard heel rate
  • But at longer term expense of increased starboard
    sideslip
  • Starboard sideslip overwhelmed direct rudder
    effect producing starboard heel

35
Summary (cont.)
  • Opposing long term and short term effects
    complicate the 2nd officers efforts to control
    the heel

36
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