part 5: mooring forces and vessel behaviour in locks
TRANSCRIPT
PIANC Workshop PIANC Workshop
1313--14th September 201114th September 2011
Part 5: Mooring forces and Part 5: Mooring forces and vessel behaviour in locks vessel behaviour in locks ââ
Experience in BelgiumExperience in Belgium
By T. DE MULDER & M. VANTORREBy T. DE MULDER & M. VANTORRE
BELGIUMBELGIUM
www.pianc.orgwww.pianc.org New-Orleans 2011
Mooring forces andvessel behaviour in locks:
Experience in Belgium
2
T. De Mulder & M. Vantorre
Antwerp Ghent
www.pianc.orgwww.pianc.org New-Orleans 2011
Mooring forces
3
Classical approach to ensure smooth and safe F/E of lock:
âhawser force criterionâ
⢠misleading term
⢠hydrodynamic force exerted by water on vessel
should be below a given threshold value
⢠measure force on (centrally positioned)
vessel in scale model (no mooring lines)
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Mooring forces
4
Threshold values for inland navigation:
⢠popular value for quite sometime:
1â° of displacement weight
⢠since 1980âs (~neighbouring countries, mainly NL):
⢠relative approach: e.g. actual situation normative for
situation after renovation of F/E system
CEMT class LxBxT Filling (fixed bollards) Filling (floating bollards),
emptying
IV 80m x 9.45m x 2.8m 1.1 â° 1.5 â°
Va 135m x 11.4m x 3.5m 0.85 â° 1.15 â°
Vb 190m x 11.4m x 3.5m 0.75 â° 0.75 â°
Conservative�
(in comparison to on
site measurements)
Recreational vessels: 3 â°
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Mooring forces
5
Threshold values for sea-going navigation:
â˘
⢠relative approach: e.g. existing lock normative for
(Âą comparable) new lock
Conservative�
(in comparison to on
site measurements)
A. Vrijburcht (1977)
www.pianc.orgwww.pianc.org New-Orleans 2011
Mooring forces
6
Threshold values:
⢠(too?) often only longitudinal force component considered
â˘
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Mooring forces
7
Mathematical models for âlateralâ F/E systems
⢠lock chamber flow based on Shallow Water Eqs. (1D or 2D)
⢠(pre)calculated timeseries of filling/emptying discharges
⢠vessel represented by means of artificial field of atm.pressure
⢠longitudinal water surface slope (bow-stern)
-0.20
-0.15
-0.10
-0.05
0.00
+0.05
+0.10
+0.15
+0.20
00 120 240 360
time [s]
lon
git
ud
inal w
ate
r su
rface s
lop
e [
â°]
numerical predictions (LOCKSIM,DELFT3D)
and values measured on site
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Mooring forces
8
Mathematical model for âlongitudinalâ F/E systems
⢠LOCKFILL (NL ; developed since 1990âs)
⢠similar programme developed in house at FHR
⢠intensive validation
⢠recreational navigation ?
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âHawser Forcesâ
9
Numerical calculation / Physical model test on
immobilized vessel
ďż˝ (horizontal) force and moment components on
ship due to Filling/Emptying = âexciting forcesâ
ďż˝ to be applied to ship + moorings/control
ďż˝ dynamic system
ďż˝ forces in mooring system + lateral displacement
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âHawser Forcesâ
10
-4.0E+05
-3.0E+05
-2.0E+05
-1.0E+05
0.0E+00
1.0E+05
2.0E+05
3.0E+05
4.0E+05
X (N)
-1.5E+06
-1.0E+06
-5.0E+05
0.0E+00
5.0E+05
1.0E+06
1.5E+06
0 100 200 300 400 500 600 700 800
Y (N)
-1.0E+08
-5.0E+07
0.0E+00
5.0E+07
1.0E+08
1.5E+08
0 100 200 300 400 500 600 700 800
N (Nm
)
âexciting forcesâ
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âHawser Forcesâ
11
Dynamic system ?
12
3
5
6
4
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âHawser Forcesâ
12
Dynamic system: pure springs motions
12
3
5
6
4
-0.5-0.4-0.3-0.2-0.1
00.10.20.30.40.5
0 100 200 300 400 500 600 700 800
su
rge
(m
)
-0.5-0.4-0.3-0.2-0.1
00.10.20.30.40.5
0 100 200 300 400 500 600 700 800
sw
ay
(m
)
-5.0E-03-4.0E-03-3.0E-03-2.0E-03-1.0E-030.0E+001.0E-032.0E-033.0E-034.0E-035.0E-036.0E-03
0 100 200 300 400 500 600 700 800time (s)
ya
w (
m/m
)
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âHawser Forcesâ
13
12
3
5
6
4
0
100
200
300
400
500
600
700
800
0 100 200 300 400 500 600 700 800
moori
ng 1
(kN
)
0
100
200
300
400
500
600
700
800
0 100 200 300 400 500 600 700 800
moori
ng 2
(kN
)
0
100
200
300
400
500
600
700
800
0 100 200 300 400 500 600 700 800
moori
ng 3
(kN
)
0
100
200
300
400
500
600
700
800
0 100 200 300 400 500 600 700 800
moori
ng 4
(kN
)
0
100
200
300
400
500
600
700
800
0 100 200 300 400 500 600 700 800
mooring 5
(kN
)
0
100
200
300
400
500
600
700
800
0 100 200 300 400 500 600 700 800m
oori
ng 6
(kN
)
Dynamic system: pure springs line forces
www.pianc.orgwww.pianc.org New-Orleans 2011
âHawser Forcesâ
14
Dynamic system: line forces
automatic winches
12
3
5
6
4
TEST 91 - AUTOMATIC WINCHES CONFIGURATION W1
0
50
100
150
200
250
300
0 100 200 300 400 500 600 700 800
mooring 1
(kN)
0
50
100
150
200
250
300
0 100 200 300 400 500 600 700 800
mooring 2
(kN)
0
50
100
150
200
250
300
0 100 200 300 400 500 600 700 800
mooring 3
(kN)
0
50
100
150
200
250
300
0 100 200 300 400 500 600 700 800
mooring 4
(kN)
0
100
200
300
400
500
600
0 100 200 300 400 500 600 700 800
mooring 5
(kN)
0
100
200
300
400
500
600
0 100 200 300 400 500 600 700 800
mooring 6
(kN)
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âHawser Forcesâ
15
Increase realism:
⢠Realistic mooring configuration
⢠Vertical motion!
⢠Winch control
www.pianc.orgwww.pianc.org New-Orleans 2011
âHawser Forcesâ
16
-40
-30
-20
-10
0
10
20
30
40
-200 -150 -100 -50 0 50 100 150 200
www.pianc.orgwww.pianc.org New-Orleans 2011
âHawser Forcesâ
17
Control algorithm:
⢠Initially constant force of 0.2 MBS to each line.
⢠If bow/stern is closer to SB side of the lock, or if bow/stern is
moving to SB, breast line fore/aft starboard will be rendered.
⢠If bow/stern is closer to PS of lock, or if bow/stern is moving to
port, breast line fore/aft port will be rendered.
⢠If ship is moving ahead/astern, or if shipâs position is
ahead/astern of her initial position, springs fore/aft will be
rendered.
⢠In case a line is rendered, it is assumed that line force is reduced
to 1% of MBS. It is assumed that line length can be adjusted with
a maximum speed of 0.25 m/s.
⢠During the simulations, the necessity of rendering the lines is
evaluated with a time interval of 2 s.
www.pianc.orgwww.pianc.org New-Orleans 2011
âHawser Forcesâ
18
TEST 12 - FORCES AS MEASURED
AUTOMATIC WINCHES CONFIGURATION WITH POSITION & VELOCITY FEEDBACK
-1.5
-1
-0.5
0
0.5
1
1.5
0 200 400 600 800 1000 1200
su
rge
(m
)
-1.5
-1
-0.5
0
0.5
1
1.5
0 200 400 600 800 1000 1200
sw
ay (
m)
-1.0E-02
-5.0E-03
0.0E+00
5.0E-03
1.0E-02
0 200 400 600 800 1000 1200time (s)
ya
w (
m/m
)
www.pianc.orgwww.pianc.org New-Orleans 2011
âHawser Forcesâ
19
TEST 12 - FORCES AS MEASUREDAUTOMATIC WINCHES CONFIGURATION WITH POSITION & VELOCITY FEEDBACK
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200mooring 1 (kN)
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200
mooring 2 (kN)
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200
mooring 3 (kN)
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200
mooring 4 (kN)
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200
mooring 5 (kN)
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200
mooring 6 (kN)
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200
mooring 7 (kN)
0
50
100
150
200
250
300
0 200 400 600 800 1000 1200
mooring 8 (kN)
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âHawser Forcesâ
20
-4.0E+05
-3.0E+05
-2.0E+05
-1.0E+05
0.0E+00
1.0E+05
2.0E+05
3.0E+05
4.0E+05
X (N)
-1.5E+06
-1.0E+06
-5.0E+05
0.0E+00
5.0E+05
1.0E+06
1.5E+06
0 100 200 300 400 500 600 700 800
Y (N)
-1.0E+08
-5.0E+07
0.0E+00
5.0E+07
1.0E+08
1.5E+08
0 100 200 300 400 500 600 700 800
N (Nm
)
âexciting forcesâ
www.pianc.orgwww.pianc.org New-Orleans 2011
âHawser Forcesâ
21
âexciting forcesâ ���� running average
-3.0E+05
-2.0E+05
-1.0E+05
0.0E+00
1.0E+05
2.0E+05
3.0E+05
0 100 200 300 400 500 600 700 800
X (N)
-6.0E+05
-4.0E+05
-2.0E+05
0.0E+00
2.0E+05
4.0E+05
6.0E+05
0 100 200 300 400 500 600 700 800
Y (N)
-8.0E+07
-6.0E+07
-4.0E+07
-2.0E+07
0.0E+00
2.0E+07
4.0E+07
6.0E+07
8.0E+07
1.0E+08
0 100 200 300 400 500 600 700 800
N (Nm
)
www.pianc.orgwww.pianc.org New-Orleans 2011
Mooring forces
22
On site measurements by FHR
Water surface slopes (end-to-end)
⢠with/without vessel(s) in lock
⢠â hydrostatic force on vessel
Vessel motion
For on site measurements by
see D. Bousmar (Smart Rivers 2011)
www.pianc.orgwww.pianc.org New-Orleans 2011
More on mooring forces
23
⢠T. De Mulder (2007): Specification of hawser force criteria. Report TO1-Task
1.2.4-CNR-FHR-R013 of Consorcio Pos-Panamax, commissioned by ACP.
� Report n°106 of PIANC WG 29 ; CD-ROM ; Directory C14
â˘T. De Mulder (2009): Mooring forces and ship behaviour in navigation locks.
Paper 7 in Int. Workshop on âInnovations in Navigation Lock Designâ, PIANC-
Brussels, 15-17 Oct. 2009.
ďż˝ http://www-new.anast.ulg.ac.be/index.php/fr/nouveautes/40/94-pianc-workshop-innovations-in-navigation-lock-designq
⢠T. De Mulder et al. (2010): On hawser force criteria for navigation lock design:
Case study of maritime locks in Port of Antwerp. Paper 290 in Proc. PIANC
MMX Congress, Liverpool-UK, 10-14 May 2010.
www.pianc.orgwww.pianc.org New-Orleans 2011
More on mooring forces
24
⢠on site tests & inquiries at stakeholders
(e.g. systematic variation of valve opening laws)
⢠intercomparison of scale models, numerical models, on site measurements
⢠in absolute terms (?)
⢠in relative terms (!): for a given lock (+vessel), do results show the same trends?
w.r.t. influence on peak force / peak slope of:
ďż˝ initial head
ďż˝ valve opening time
ďż˝ distance bow to filling gate
ďż˝ ship size (displacement, blockage,âŚ)
ďż˝ etc.