An Interactive, Physics-Based, Real-Time Ship
Contents
1. Here the first line is the total number of regimes the ship has and it 1s followed by data pairs that specify Engine regime and Ship speed 2 Ship turning radius performance data file This file is named in the format of performance rdd SHIPNAME pef where SHIPNAME should be the same as the ship model name For an example if Mariner ship 1s selected the ship turning radius performance data file should be named as performance rdd Mariner pef to be used by DYNASIM The file provides the information of ship turning characteristics for a given rudder angle A sample performance rdd Mariner pef file 15 shown below 19 40 430 431 402 3515 29 17 O 204 039 22 142 35 454 798 432 329 25 27 O 195 616 20 98875 The first line 1s the total number of data sets included 1n the file each data set is ordered as 0 aj dwd Mian mia var mia Mfwa_var The definitions of dig dwd Mia and my a are shown in Fig 19 0 is the rudder angle and my var and mg 4 var are the average variances of mj and Mia among different engine regimes All units are meter except the rudder angle 0 which is in degrees 3 Ship turning rate performance data file This file is named in the format of performance trt SHIPNAME pef where SHIPNAME should be the same as the ship model name For an example if Mariner ship 1s selected the ship turning radius performance data file should be named as performance trt Mariner pef to be2. new values for the navigation rules If the user chooses to specify new values for these navigation rules by selecting Specifying New Values in the Add Ship dialog a Specify Values For Driving Rules Turning Characteristics Earliest Tum Ending point Tum C User Specifid Early Turn Distance m Emergency Situation Action Distance 500 m Minimum Safe Clerance 300 m Course amp ngle Change 30 deg Head on Situation Action Distance 3000 m Minimum Safe Clerance 900 m Course Angle Change 30 deg Over_taking Situation Action Distance 1000 m Minimum Safe Clerance 500 m Course Angle Change 30 deg Crossing Situation dialog window as shown in Fig 11 pops up through which the user can specify new values for navigation rules in different situations Action Distance 1000 m Minimum S afe Clerance 400 m Course Angle Change 30 deg Figure 11 Specify Navigation Rules After the navigation rules have been decided an itinerary selection window Fig 12 pops up specify the desired route number and click OK If a valid itinerary has been selected a new dialog window Fig 13 pops up through which the user can specify where and in which direction to launch the ship In the same dialog window the user can also decide whether to keep the itinerary default properties or not If the user wants to specify new properties he can change the properties for each segment of the itinerary throu
3. 1 4 0 000000 9 Distance CG in y direction 1 2 lt Maneuver type 1 000000 1 type 0 free 1 Circulation 2 Zigzag 3 Spiral test 1 000000 2 discretization step sec float number format 30 000000 3 print time ship body display time sec 2 000000 4 Max mnvr time min 50 000000 5 Max rudder deflection 0 30 000000 6 Angle of zig zag maneuver switch 10 000000 7 motion equations results display time sec lt Regimes gt 9 I One engine initial regime 0 full astern 4 stop 9 full ahead 24 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 9 2 One engine ordered regime 4 4 3 Left engine initial regime 4 4 Left engine ordered regime 4 5 Right engine initial regime 4 6 Right engine ordered regime Added Mass gt 0 02 admassx coeff admassx mMass 0 7 admassy coeff admassy mMass 0 7 admassz coeff admassz mMass 0 002 adinex coeff adinex mMass mLength 2 0 7 adiney coeff adiney mMass mLength 2 5 adinez coeff adinezzmMass mLength 2 Print Data gt 1 I Hull force I yes 0 no 1 2 Rudder force 1 3 Propeller force 1 4 Kinematic 4 10 Output The simulation results are saved in a trace file named by the user the default name is ship dat The following quantities are saved time Xcoord Ycoord Heading Rudder xYaw zYaw Roll Drift 0 00000 0900000 0 0000 0 0 0000 0 0000 0 0000 0 0000 1 10 2794 0 0011 0 0066 0 0 0002 0 00
4. based on collective experience resulting from development of many simulators 3 Installation DYNASIM operates on a PC under Windows NT 4 and up The software is operated and controlled through a user friendly Graphical User Interface GUI The various options and tasks are accessed through a series of pull down menus and easy access buttons The following simple steps will guide the user through the installation process 1 To install this software user needs to be logged in as an administrator or have administrator rights 2 Open the folder of the distribution CD the following files should be readily located OCX bat AX UG ocx ACWAnim ocx HeadingControl ocx REGSVR32 EXE 3 Double click the batch file OCX bat to install the above three ocx files to the system automatically If the batch file runs successfully a message box with DLLRegisterServer in AX UG ocx succeeded will appear click OK and continue until all three ocx files are installed successfully If all three ocx files are installed successfully go to step 5 4 If the batch file doesn t run successfully the three ocx files have to be installed manually To do so copy the three ocx files to the SYSTEM32 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 folder either C WINNT SYSTEM32 for Windows or C WINDOWS SYSTEM32 tor Windows XP If REGSVR32 EXE is not present in the SYSTEM32 folder also copy it from the CD to the system32 folder The
5. explains how to prepare input files how to run the code and what results can be output Sample input and output files are provided These example input and output files and the software are provided on the program disks DYNASIM are Copyrights of DYNAFLOW INC 1995 2006 All rights reserved DYNAFLOW INC may have patents and or pending patent applications covering subject matter in this document The furnishing of this document does not convey any license to these patents Other brands or product names are trademarks 1M registered trademarks or copyrights of their respective holders No part of this document may be reproduced or transmitted in any form or by any means electronic or mechanical for any purpose without the express written permission of DYNAFLOW INC DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 Intellectual Property and Software License Agreement This agreement governs your use of the DYNASIM product and any material enclosed with it including any manuals disks hardware PC cards and computer programs Grant of License This agreement permits you to use one copy of the product which is licensed as a single product The software is in use on a computer when it is loaded into the temporary memory i e RAM or installed into the permanent memory e g hard disk or other storage device of that computer Copyright and Restrictions The software is owned by DYNAFLOW INC and is protecte
6. 000 1 propeller diameter 1 000000 2 propeller pitch ratio J 4 000000 3 numbers blades J 0 494000 4 propeller_area ratios 1 000000 5 numbers_propellers 18 000000 6 distance between propeller axes 1 000000 7 dist betw prop axis and base 2 S8rotation I R 2 L J lt Rudder data gt 25 200001 1 rudder area J 7 300000 2 rudder_height I 1 000000 3 numbers rudders J 29 100000 4 dist rudders or totalArea 0 223000 5 compensation coefficient 7 300000 6 dist betw up tip chord and base 22 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 7 300000 7 height balance part I 0 0 8 turnrate NOT USED J lt Approached speed table gt 20 000000 1 full speed ahead 15 000000 2 maneuver speed ahead 12 500000 3 mean speed ahead 10 000000 4 slow speed ahead 6 000000 5 dead speed ahead 95 000000 6 full RPM ahead 69 609997 7 maneuver RPM ahead 58 10000 8 mean RPM ahead 46 500000 9 slow RPM ahead 27 900000 I0 dead RPM ahead Engine data 1 engine type I diezel 2 steam 19500 000000 1 dizel power 0 870000 2 part power ahead 1 000000 3 part rpm ahead 40 000000 4 deley regim regims 0 620000 5 part rpm contr CPP pointers data 16 000000 1 full speed ahead 10 000000 2 maneuver speed ahead 9 000000 3 half speed ahead 5 000000 4 slow speed ahead 6 000000 5 dead speed ahead 13 000000 I full astern poi
7. 01 0 0114 0 0126 2 20 5581 00024 0 0188 0 0 0003 0 0002 0 0271 0 0264 3 30 8361 00033 0 0360 0 0 0002 0 00035 0 0587 0 0411 4 41 1136 0 0031 0 0575 0 0 0000 0 0004 0 03598 0 0562 5 51 3904 0 0011 0 0829 0 0 0002 0 0004 0 0281 0 0717 6 61 6665 0 0033 0 1117 0 0 0004 0 0005 0 0060 0 0872 7 71 9421 0 0106 0 1437 0 0 0005 0 0006 0 0202 0 1028 8 82 2171 0 0214 0 1786 0 0 0004 0 0006 0 0429 0 1183 9 92 4914 0 03635 0 2163 0 0 0002 0 0007 100559 0 1337 10 102 7651 0 0556 0 2565 0 00000 0 0007 0 0566 0 1488 1 113 0382 0 0799 0 2991 0 0 0002 0 0007 0 0469 0 1636 12 123 5108 0 1096 0 3440 0 0 0003 0 0008 0 0321 0 1781 25 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 5 Tugboat Simulation Tugboats can be simulated in DYNASIM either as point forces or as a user controlled ship 5 1 Tugboats Modeled as Point Forces Point forces can be applied to a ship to simulate the tugboats acting on that ship The representation of a point force acting on a ship is shown in Fig 20 X A T Xz f Fi Cp lt gt Figure 20 Tugboat as a point force acting on a ship B and L are the beam and length of the ship T is the contact point of coordinates Xrti yri between tugboat i and the ship note that the origin of the X Y coordinate system is located at the ship center of gravity Cp Fa is the force acting on
8. 6 v 3 2 User Controlled Output Maneuver Data File tugboat Output Itinerary Data File Standard Maneuver Tere cUE tanker SMAME 1S0K tanker Maneuver Type SHAME mariner Fi ue enple Liser S perilled Wait Far Start Signal ncld Human amp Env Effets f Autopilot Itinerary Incld confined water effects Ship Itinerary Data File 21 Autopilot Rules Hydrodynamic Caefficients f Calculated Internally f Read from File Hull Coefficients Index hone Rate in n Ship Properties File Marne SHP Safe boundaries ls a tugboat Trace File Hame Max T stps to Output Iw Ma Output Figure 22 The Add Ship dialog The Tug Point Force Table dialog window will be automatically activated when it 15 linked with a ship and the point forces will apply to that ship The user can link the point forces with a ship when it is newly added to the simulation or is selected after it has been added to the simulation To link with a new ship the user can check Apply tug point forces in the Add Ship dialog as shown in Fig 22 To select or change to a ship that has been added to the simulation the user can select the Se ector on the tool bar point the Selector 28 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 on the ship of interest right click the mouse to activate the Modify Ship Dialog as shown in Fig 23 and then click the Apply tug point for
9. DYNASIM An Interactive Physics Based Real Time Ship Simulator for Windows NT 2000 XP Platform Version 3 2 August 2006 DYNAFLOW INC 10621 J IRON BRIDGE ROAD JESSUP MD 20794 U S A Phone 301 604 3688 Fax 301 604 3689 E mail info dynaflow inc com http www dynaflow inc com DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 Table of Contents Intellectual Property and Software License Agreement l li l a k ja j a el b la j Er ea eee 3 4 2 Technical DASIS Smilie 6 4 Running 4 1 SETUP OF THE ENVIRONMENT ccccccoseccescccscccssccescccseccsscsccccsaccuscseccecseccescscesecssccescscesess 7 4 2 PLACEMENT OR SHIPS lt atc 5Se sen a esteem un ead e Du pudo Uo diese DD eat 12 4 3 OPERATION OF THE USER CONTROLLED SHIP FROM THE CONTROL PANEL 13 4 4 OPERATION OF THE USER CONTROLLED SHIP USING A JOY 9 15 4 5 OPERATION OF A SHIP IN A PRESCRIBED ITINERARY c ccsscccscccsccesccesccesccesccessceusseuscss 16 4 4 MODIFICATION OF PROPERTIES OF A LAUNCHED SHIP ceceeeen eene nennen rennes 17 2 5 VIEW OPTIONS acc alae leu LL er I DEN E LL oun Ee d PCS ue 18 4 6 DISPLAYING THE SIMULATED TIME DURATION scccsscssc
10. allows the user to select the desired ship and operation mode Fig 8 The user selects the ship model for the ship to be launched from a list of ship models or by providing a ship model data file In addition the user can determine how the ship hydrodynamic coefficients are provided ie either read from a ship model data file or calculated internally from the ship geometrical characteristics Once a ship is defined through its ship data file and the computation method of its hydrodynamic coefficients 15 prescribed the user can select from one of three types of modes to control the launched ship User Controlled Standard Maneuver and Autopilot Itinerary Add Ship Dialog User Controlled Output Maneuver Data File Output Itinerary Data File Tugboat t Standard Maneuver Tanker Maneuver Type SNAME 80K tanker SMAME 1 90K tanker Rudder Angle SNAME mariner LI ser 5pecified Wait For Start Signal neld confined water effects f Autopilot Itinerary Ship Itinerary D ata File z DCUM Autopilot Rules Hydrodynamic Coefficients f Calculated Internally Read from File Hull Coefficients Index none Hate in j Ship Properties File Mame Safe boundaries Simulation Options Apply tug point forces e a tugboat Output Options ILLA Trace File Mame Max T stps ta Output I Mo Output DAT Cancel Figure 8 Add ship dialog If the Use
11. bor Click this button then point the cursor to the desired location in the simulation area and left click the mouse to plot a harbor area A colored area representing the harbor appears in the window Insert Lighthouse Change Depth Property Click this button then point the Depth 100 cursor to the desired location in the simulation area and left click the mouse to insert a light house x CANCEL DELETE Change one Location WS Insert Iso Depth Figure 2 Input of iso depth properties Click this button then point the cursor to the desired location in the simulation area and left click the mouse to plot an area that has a given constant water depth When the user finishes drawing the closed curve a DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 dialog box will appear as shown in Fig 2 Type in the value in feet and click OK A colored area with the depth value 1s shown on the window The same dialog window appears when the user wants to change the properties of the iso depth zone using the zone selector p Insert Iso Winds Click this button then point the cursor to the desired location in the simulation area and left click the mouse to plot an area on which the effect of a wind with constant strength and given direction 1s modeled When the user finishes drawing the closed curve a dialog box will appear as shown in Fig 3 Type in the direction in degree relative to the north pirect
12. ces button ModifyShipDialog ship ld Safe Boundary Reset ship to a new position Pause Hesume S 4665 Shaw Status Y 7288 User Ctrid Ship Direction Delete Ship cancel Figure 23 The Modify Ship Dialog 5 2 Tugboat Modeled as a Controlled Ship The ship tugboat interaction model implemented in DYNASIM will be activated when any one of the two interacting ships is a tugboat A tugboat can be added to the simulation through the Add Ship dialog as shown in Fig 22 The ship is treated as a tugboat if the checkbox Js a tugboat is checked The ship model list has also been expanded to include a tugboat ship model When the tugboat on the list is selected the s a tugboat checkbox is checked automatically Once the tugboat is launched into the simulation as a User Controlled Ship the user can control the tugboat using the control panel to perform the tugging process This expanded capability for tugboat interactions is available in the Tugboat Version only 29 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 6 Feedback DYNASIM is under constant development any feedback from users is highly appreciated Customers will be notified of the newest versions when they are available 30
13. cssccssccsccssccssccscesscesscescescesscescs 18 4 7 SIMULATION SPEED ADJUSTMENT ccscccssccsscccsscessccsscesccessceesceesscessceesscesscescessceescss 19 4 8 PREPARING SHIP CHARACTERISTICS DATA FILES cccssccssccssccsccssccssccscessccsscescesscessceess 19 2 9 PEEPARING SHIP DATAFIDEGL d sal A keke tct edades etes n e en ke etude PM M Ed 22 zT O BUL UHR Cep E 25 5 1 TUGBOATS MODELED AS POINT FORCES scscececececcecececceccececececessecececsescsesceceeues 26 5 2 TUGBOAT MODELED AS A CONTROLLED SHIP scsececcececcececcececcecececssccescecescececcsceecs 29 Gs INOUE RE ERES DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 Abstract This manual provides a description of DYNASIM The code is designed to simulate multi ship dynamics in restricted water in the presence of waves wind currents and obstacles General topography channel configuration and environmental conditions can be input by the user The simulator can be used to generate multiple ship tracks to evaluate harbor safety from a system perspective and estimate the likelihood of collision for various types of vessels traffic densities navigation channels geometries and environmental conditions It can also be used for continual training of masters and pilots to minimize human error and by harbor designers and port managers for structures and waterway design modification improvement and implementation of safety measures This manual also
14. d by United States copyright laws The Software is protected by U S Copyright Laws Patents and Trade Secrets You must treat the Software like any other copyrighted material except that you may make one copy of the Software solely for backup archival purposes You may not reverse engineer decompile or disassemble the Software except to the extent applicable law expressly prohibits the foregoing restriction DYNAFLOW INC may have patents and or pending patent applications covering subject matters in this document The furnishing of this document does not give you any license to these patents DYNAFLOW INC grants you a non exclusive license to use one copy of the DYNASIM Software program Limited Warranty For 30 thirty days from your date of purchase DYNAFLOW INC warrants that the media on which the Software is distributed are free from defects in materials and workmanship DYNAFLOW INC will repair or replace the Software provided that a the defective Software is returned to DYNAFLOW INC or an authorized dealer within 60 days from the date of purchase and b you have completed and returned the enclosed registration Limitation of Liabilities In no event will DYNAFLOW INC be liable for any indirect special incidental economic or consequential damages arising out of the use or inability to use the DYNASIM Product In no event will DYNAFLOW INC s liability exceed the amount paid by you for the Product Restricted Rights N
15. d ship DYNASIM can work with any generic joysticks Fig 10 shows a typical joystcik which includes the following elements Stick rudder Base Irigger Extra buttons Autofire switch Throttle Hat Switch POV Hat d suction Cup CON tn B WN A Figure 10 A typical Joystick DYNASIM uses the Stick to control the rudder The rudder turns left or right proportionally as the stick is tilted to the left or to the right The propulsions in DYNASIM are controlled by the combination of Throttle and POV Hat The Throttle controls the throttle of the engines and the selection of the engines in case of twin engins is determined by the POV Hat When the POV Hat is in the neutral position the main engines are controlled When the POV Hat is push to up position the bow thruster is controlled when it is pulled to down position the stern thruster 1s controlled If the ship is a twin engine ship the left engine is controlled when the POV hat is push to left position and when it is pushed to the right position the right engines is controlled DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 4 5 Operation of a ship in a prescribed itinerary If the user specifies a ship to be launched into an Autopilot Itinerary when adding a ship to the simulation environment at least one prescribed itinerary must exist otherwise an error will be issued the user has the option to use the default values or specify
16. e by clicking Environment on the menu choosing Save Environment File As specifying the desired name of the environment file and clicking Save To load a saved environment setting click Environment on the menu DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 choose Open Environment File As specify the desired name of the environment file to load and click Open A snap shot of the screen of a sample setting 1s shown in Fig 7 Route Properties Dialog Route ID Route Type Channel C Open Route Segment Properties Route Segment Width 000 Segment ID 1 PREVIOUS NEXT gt gt Safe Segment Speed knots 5 Right Slope Angle to Sea Level Plane degree 190 Route Segment Depth m 30 Left Slope Angle to Sea Level Plane degree ALLPY TO ALL APPLY TO REST APPLY TO PREVIOUS RESET ALL CANCEL Figure 6 Input of an itinerary DynaSl M Fila Edt Ship Erwironmert Maneuver Optore View Hein Du m BT IM erii miu Dynes 1996 2006 www cdynalicw ine com serae Ub m 1111 y amp Ln jJ O EE A Figure 7 Setup example of a simulation environment 11 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 4 2 Placement of ships e Insert ship Click this button then point the cursor to the desired location in the simulation pane and left click the mouse to insert a ship A dialog box appears which
17. e engine model and the throttle control and engine status display on the right are disabled The single engine 1s controlled by the throttle control slide on the left side and the engine status 1s also displayed on the left The user can use the slide bars on the control panel to control a user controlled ship Propulsion The throttle control for the main engine 15 represented by the vertical slide bar in the middle of the control panel sliding the bar enables the user to adjust the engine RPM Sliding up from Stop increases the forward thrust Sliding down from Stop increases the backward thrust The bow and stern thrusters are represented by two horizontal slide bars sliding to the right the direction of the thrust is toward the starboard side sliding to the left a thrust toward the portside is applied to the ship The current thrust is displayed in the form of percentage of the maximum thrust that the thruster can generate Maneuver The slide bar for the Rudder Contol 1s located below the thruster controls in the lower part of the control panel sliding the bar enables the user to adjust the rudder angle to control the ship motion direction Slide left to turn the ship to the left Slide right to turn the ship to the right DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 4 4 Operation of the user controlled ship using a joy stick If a joystick is presented it 7 becomes the default control device for T a user controlle
18. gh a dialog window as shown in Fig 14 This capability is not available in the Basic Version 16 Choose Itinerary Di b Available Mumber of Itineraries The Itinerary ta Put the Ship Cancel Figure 12 Choose Itinerary DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 Choose Release Point Available Number of Relases Points The Point to Put the Ship j Direction Choice Arrival C Departure Itinerary Properties Use Default C Specify New Cancel Figure 13 Choose Release Point Specify New Itinera X 1000 15 Cancel Figure 14 Specify New Itinerary Properties 4 4 Modification of properties of a launched ship After a ship has been launched into the simulation environment the user still has the capability to change the properties of the ship by pointing the cursor on the ship and double clicking the right mouse button A dialog window as shown in Fig 15 pops up The user can pause or resume the motion of the ship change the ship from the current type to another user controlled type such that he can maneuver the ship through the control panel delete the ship from the simulation environment display the ship status through the control panel and relocate the ship to a desire location by providing the coordinates of the new location The user can also drag the ship to a desired position by putting the cursor over the ship moving the mouse while pressing the lef
19. ion clockwise velocity magnitude in knots and click OK A colored area with the Delete values is shown in the window The same 7 dialog window appears when the user wants E LIUM to change the properties of the iso wind v f o zone using the zone selector Change Wind Properties r Figure 3 Input of iso winds properties uu Vp Insert Iso Current First click this button then point the cursor to the desired location in the simulation pane and left click the mouse to plot an area on which the effect of a current with a constant velocity and a given direction is modeled When the user finishes drawing the closed curve a dialog box will appear as shown in Fig 4 Type in the direction in degrees Change Current Properties relative to the north clockwise velocity r magnitude in knots and click OK The TE NET DELETE same dialog window appears when the user ao CANCEL wants to change the properties of the iso current zone using the zone selector OK Figure 4 Input of iso current properties DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 wn Insert Iso Waves Click this button then point the cursor to the desired location in the simulation area and left click the mouse to plot a area on which the effect eve Properties Direction of a wave with a constant height and a given La OE direction is modeled When the user finishes cam C R
20. king Options Time Step Specifications on the main window frame A dialog window as shown in Fig 18 will pop up to allow the user to change the time step size which is the physical time represented by each i Synchronize time step among ship threads time step The change of time step Change simulation time step to am 5 size will apply globally to all the ships and the time step size will be Cancel maintained through the simulation until it is changed the next time Time Step Options b Figure 18 Time step specification dialog window 4 8 Preparing ship characteristics data files The turning and cruising characteristics of a ship can be used in DYNASIM by overriding the default values used for route control for the ship This information can be provided to DYNASIM through three files Followings are the detailed information of these files 1 Ship performance data file This file is named in the format of performance stt SHIPNAME pef where SHIPNAME should be the same as the ship data file name For an example if Mariner ship 1s selected the ship performance data file should be named as performance stt Mariner pef to be used by DYNASIM The file provides the information of engine regime and the corresponding ship speed when ship keeps a straight course at a steady state Below is an example of performance stt Mariner pef file 10 5 5 94922 6 9 91509 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2
21. mber of engines of a ship is provided by the number of propellers in the ship data file The same control panel will be used for both single and twin engine ships Fig 9 shows the status of the control panel for a twin engine ship left and a single engine ship right Hal Ful Manw Slow Dead gt Siom Dead Slow Half 7 RPM RPM Regime 4 Regime Indepdnt Engine Ctrl Yu 3 Speed 0 00 Knots Bow Thruster Stern Thruster Rudder 1 Degree PR Ship Position A 23 bb 8m 33 M Start Stop Half Full Manw Slow Dead e Sliop Dead Slow Haf Man RPM Regime r5 e e Speed 0 00 Knots Bow Thruster Stem Thruster Oz Os SEN Rudder Degree ar Ship Position mez485824m 897 931 m Stark S top Figure 9 Control panel status for a twin engine ship left and a single engine ship right DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 If the ship added is a twin engine ship the check box ndepdnt Engine Ctrl 1s enabled If the checkbox is left unchecked the two engines work in the synchronized mode i e two engines are always set to the same engine throttle setting when one of the two engine throttle controls is changed If the checkbox is checked the user can control the two engines separately If the ship 1s a single engine ship the disabled check box will show On
22. n open a console window for a command prompt Start Run type cmd OK and change directory to the SYSTEM32 folder and execute the following command REGSVR32 EXE AX UG ocx After getting the message DLLRegisterServer in ACWAnim ocx succeeded continue to register the second and third OCX files 1 e REGSVR32 EXE ACWAnim ocx and REGSVR32 EXE HeadingControl ocx 5 Putthe executable DynaSIM exe in the directory of the user s choice 6 Put all ship model files shp 1 e Mariner shp etc and itinerary files env 1 e Sample Itinerary 1 env etc in the working directory where the user wants to make runs and place all the input and output files Now the user is ready to use DYNASIM 4 Running DYNASIM Double clicking on the DYNASIM icon to start the DYNASIM software This invokes the Graphical User Interface allowing for interactive and arbitrary manipulation of the on screen control steering devices in real time and a graphical display of multiple ships and sea environments A snap shot of the typical working window of DYNASIM is shown in Fig 1 The scale of one grid spacing 1s shown on the upper left corner and it changes according to the grid as the user zooms in and out the view DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 4 1 Setup of the environment By clicking the shortcut buttons on the left side of the window the users can set up the surrounding environment in which the simulation
23. nter 8 000000 3 half astern pointer 4 000000 3 slow astern pointer 2 000000 4 dead astern pointer 0 000000 5 stop pointer 2 000000 6 dead ahead pointer 4 000000 7 slow ahead pointer 5 000000 8 half ahead pointer 6 000000 9 maneuver ahead pointer 13 000000 10 full ahead pointer 1 200000 11 full ahead cntrl pitch 120 000000 12 init rps cntr pitch Sea data 23 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 0 000000 1 Mean draft to water depth ratio 0 000000 2 Wind velocity 5 00 OK 270 000000 3 Wind direction 0 000000 4 Current velocity 270 000000 5 Current direction 0 000000 6 Wave height sea state 0 to 9 J 0 000000 7 Wave direction was 270 lt Bow thruster data gt 500 000000 1 bow power J 3 100000 2 hydr area bow trsr 3 100000 3 stream area bow trsr 95 000000 4 coord bwt axise 20 000000 5 bow time lt Stern thruster data gt 500 000000 1 strn_power 3 100000 2 hydr area strn trsr 3 100000 3 stream area strn trsr 95 000000 4 coord strn axise 20 000000 4 strn_time Initial values 0 000000 1 Velocity in x direction 0 000000 2 Velocity in y direction 0 000000 3 Angular velocity about z axis 0 000000 4 Angular velocity about x axis 93 000000 3 Rotation per minits 0 000000 6 Head angle was 0 J 0 000000 7 Roll angle J 0 000000 8 Distance CG in x direction
24. o part of this document may be reproduced or transmitted in any form or by any means electronic or mechanical for any purpose without the express written permission of DYNAFLOW INC Other brands or product names are trademarks or registered trademarks of their respective holders DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 1 Introduction The PC Windows Ship Maneuvering Simulator DyNASIM is a user friendly ship dynamics simulator that will incorporate Systems Identification Techniques in future versions to determine ship maneuvering characteristics Once the parameters are known the simulator reproduces ship motion under the action of waves wind nearby piers obstacles or other ships it 1s presently able to operate in three modes user manually controlled standard ship classification maneuvers i e tests recommended by the International Maritime Organization for evaluating the maneuverability of a ship and computer controlled maneuvers including prescribed routes and obstacle avoidance Multithreading enables simultaneous simulation of several ships DYNASIM incorporates on screen buttons for maneuvering controls and input of environmental conditions which helps personnel training ship design and navigation planning The initial efforts to develop the device were funded by Small Business Innovation Research SB R awards from the National Science Foundation the Department of Defense and the National Oceanic amp Atm
25. ospheric Administration 2 Technical Basis The simulator is based on the state of art knowledge of ship dynamics A comprehensive model for ship dynamics under cruising and maneuvering conditions is implemented It incorporates a large variety of options to simulate vehicles large ships and small boats with different engine types weather and sea conditions and land and coastal configurations Some of the navigation code rules have been implemented for allowing auto piloting of multiple ships in the computer controlled mode The hydrodynamic characteristics implemented in DYNASIM can be updated using the results from the advanced computational hydrodynamics code developed at DYNAFLOW INC 3DYNAFS which can handle nonlinear large amplitude vehicle motion high waves surf zone waves etc An additional DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 major characteristic of future versions of DYNASIM is its incorporation of a multi objective system identification technique to determine the vehicle parameters This would enable the autopilot to adjust the vehicle parameters based on feedback from the ship response to the pilot commands The simulator employs modular mathematical models for the various components of the ship hull propeller s rudder s and thrusters and environmental effects wind current waves and waterway bottom pier walls to achieve a sophisticated mathematical model for the ship The models are
26. ough Sea Smooth Sea High Sea drawing the closed curve a dialog box will 254 E Ven HUn Ses appear as shown in Fig 5 Type in the direction ModesteSea lt Precipitous See C Rather Rough Se n degrees relative to the north clockwise choose the Sea State and click OK A colored area with the values is then shown in the window The same dialog window appears when the user wants to change the properties of the 1so waves zone using the zone selector Figure 5 Input of iso wave properties Change Zone Location b Insert Itinerary Prescribed itinerary are required to run the simulator in computer controlled maneuvering mode To add an itinerary click this button then point the cursor to the desired location in the simulation area and left click the mouse to plot an itinerary as desired A safe navigation zone 1s required to each itinerary when the user finishes drawing the itinerary double click the right mouse button a safe zone dialog box will appear as shown in Fig 6 Type in the range of the safe navigation zone the width and the recommended speed for each segment of the itinerary and click OK A colored itinerary with the itinerary number is shown in the window The same dialog window appears when the user wants to change the properties of the safe zone when using the zone selector to change the location of the itinerary After setting up the environment the user can save the environment setting to a fil
27. r Controlled is selected the user can maneuver the ship through the graphic control panel using either a mouse keyboard or a joy stick If a Joy stick 1s presented it becomes the default control device If the Standard Maneuver 1s selected the ship can perform one of the classical Autopilot Itinerary is available in the Traffic and Tugboat Versions only 12 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 maneuvers used to identify the ship hydrodynamic characteristics Three types of maneuvers are pre programmed Turning Circle Zigzag and Spiral maneuvers For these maneuvers the user needs to provide a rudder angle for the standard maneuver If the Autopilot Itinerary 15 selected the user has to define specify an itinerary as described above for the ship before the ship can be launched For a ship in this category the computer will act as an autopilot to maneuver the ship along the itinerary following the navigation rules If Wait signal before start 15 checked the ship won t start motion until the user clicks the Start Stop button on the control panel as shown in Fig 9 The maneuvering data of the ship in the simulation will be saved in a trace file see below the user can specify the desired trace file name Click OK the ship will be added to the simulation environment 4 3 Operation of the user controlled ship from the control panel DYNASIM can handle both single and twin engine propulsion systems The nu
28. t mouse button x Pause RHesume SHOW STATUS ModifyShipDialog Ship ld Reset ship to 4 new position um E 3585 i i 1445 LISER CTAL DELETE Direction OF Figure 15 Modify Ship Properties DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 4 5 View options Q Zoom Click this button enables the user to zoom in and zoom out in the selected area 1 1 Restore 1 1 Click this button will set the view of the window to the initial setting 4 6 Displaying the simulated time duration DYNASIM can display the duration of a ship simulated time i e from the time it 15 launched into the simulation environment until the current time This is shown in the Simulation Time Display window Fig 16 The time is displayed in HH MM SS format HH for hours MM for minutes and SS for seconds elapsed The time displayed on the window 15 for the same ship for which status information is displayed on the control panel Fig 9 The user can show or hide this window by clicking view Show time from the main frame as shown in Fig 17 ations Help v Toolbar W Status Bar Control Panel Show time Simulation Tim X Figure 16 The time display window Figure 17 Show hide time display window DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 4 7 Simulation Speed Adjustment The ship simulation proceeds in discrete time steps the simulation time step size can be modified by clic
29. the ship by the tugboat i with fxi and fy its components along the X and Y axes This expanded capability for tugboat interactions is available in the Tugboat Version only 26 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 The point forces are input by a user through the Tug Point Force Table dialog window as shown in Fig 21 in which each point force is specified by its location x L and y B are the x and y normalized by L and B respectively and magnitude F x and F y are the components fy and fyi The user can specify how many point forces are applied to the ship by editing the Number of force points edit box Up to 20 point forces can be applied to a ship simultaneously through the dialog window Tug Point Force Table KM YB F_x ki Fy kN 0 00 0 000 0 000 0 00 0 000 0 00 0o00 0 000 0 00 0o00 0 000 0 00 0o00 0 000 1j 2 S 5 B T 5 g o c Status Applying tug forces Figure 21 The dialog window of Tug Point Force Table The user can choose to apply the tug point forces to the ship instantly after its input to the table by checking the checkbox Apply force instantly It the checkbox is left uncheck the user can apply or stop applying the tug point forces to the ship by toggling the Apply Stop tug forces Button The message shown in the Status at the bottom of the dialog window indicates the current status of the tug forces 2 DYNAFLOW INC DYNASIM USER MANUAL 7 05
30. used by DYNASIM The file provides the information of ship turning rate at a given engine regime and rudder angle for steady ship turning A sample performance trt Mariner pef file should look like below 105 5 40 0 257167 20 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 5 55 0 263259 5 30 0 265563 Here the first line 1s the total number of data sets included in the file and each data line following the first line is composed of engine regime 0 turning rate in order Units of 0 and turning rate are degree and degree per second respectively Ofwd Figure 19 Ship turning characteristics 21 DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 4 9 Preparing ship data file The specifications of ship parameters must be prepared in a ship model file shp For example Mariner shp has the following values The user can modifiy the values of the paramerters according to their requirements Hull data 167 880005 1 length 23 200001 2 beam 7 400000 3 draftb 8 100000 4 drafts 16818 000000 5 displacement 1800 000000 6 lateral abovewater area 240 000000 7 transverse abovewater area 3 500000 8 center pressure location 10 000000 9 dist from air to base 16 500000 11 I 3 000000 12 Ho 17 000000 13 trans cross sect 10 100000 10 Zg true J 160 000000 14 Visual ship length lt Propeller data gt 6 700
31. will be conducted These buttons are described below Dyna5lM wironwnent Optor View Help Dynes IM 1956 20086 www com T u a 5 p uu E BETRTE ji in iu 8 Ffo EP D Neps bni a m a Figure 1 Initial window of DYNASIM after starting the program x Zone Selector After the enviroment has been set up if a change to the properties of a certain zone 1s desired just highlight this button then place the cursor inside of the zone that needs to be changed and double click the left mouse button a property change dialog window will pop up in which the user can change the properties of the zone delet the zone or shift the zone by a specified distance DYNAFLOW INC DYNASIM USER MANUAL 7 056 v 3 2 Another way to shift the whole zone to a desired new place is to drag the zone when both left and right mouse buttons are pressed Release the mouse buttons when the zone has been dragged to the desired place If the user only wants to change one zone point to a new place he can put the cursor on that point drag the mouse to the desired place while the right mouse button is pressed down p Insert Shore Click this button then place the cursor to the desired location in the simulation area and left click the mouse to plot a shore area by connecting segments to form a closed area A colored area representing the shore appears in the window Insert Har
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