Twin-Rudder-System Configurations’ Impact on Ferry Ships’ Course-Keeping Ability under Windy Conditions
Correction for this article:
Corrigendum to: Twin-Rudder-System Configurations’ Impact on Ferry Ships’ Course-Keeping Ability under Windy ConditionsPublished at: 25 Apr 2024
Corresponding email: andi_haris@ft.unhas.ac.id
Published at : 19 Apr 2021
Volume : IJtech
Vol 12, No 2 (2021)
DOI : https://doi.org/10.14716/ijtech.v12i2.3829
Muhammad, A.H., Paroka, D., Rahman, S., Firmansyah, M.R., 2021. Twin-Rudder-System Configurations’ Impact on Ferry Ships’ Course-Keeping Ability under Windy Conditions. International Journal of Technology. Volume 12(2), pp. 432-443
| Andi Haris Muhammad | Departement of Marine Engineering, Faculty of Engineering, Hasanuddin University, Gowa 92171, Indonesia |
| Daeng Paroka | Departement of Ocean Engineering, Faculty of Engineering, Hasanuddin University, Gowa 92171, Indonesia |
| Sabaruddin Rahman | Departement of Ocean Engineering, Faculty of Engineering, Hasanuddin University, Gowa 92171, Indonesia |
| Mohammad Rizal Firmansyah | Departement of Naval Architecture, Faculty of Engineering, Hasanuddin University, Gowa 92171, Indonesia |
Ship
course-keeping plays a vital role in navigation safety, especially when a ship is
operating under windy conditions. A method to control ship movements through
rudder-system configuration is necessary to stabilize a ship’s course. This
paper describes the twin-rudder-system configuration design’s impact on a ship’s
course-keeping ability under windy conditions. A time-domain simulation using
the MATLAB-Simulink program was developed for this purpose. A proportional
integral derivative (PID) controller was used to adjust the ship‘s heading
angle according to the desired path. Several parameters—such as relative wind
velocity and directions—were accounted for in the simulation. The result shows
that, at a wind direction of 88o, the ship’s course-keeping speed decreased;
however, increasing wind velocity caused a large deviation in the ship’s
heading angle. Meanwhile, the ship‘s course-keeping speed increased with rising
windspeed directions of 219o. The ship’s course-keeping time, at around
219o under the simulation’s wind direction, was 11.84% lower than during
a previous sea-trial. A possible reason for this difference is that the
simulation excluded waves and currents.
Course-keeping; Proportional integral derivative controller; Ship-tracking; Simulation
Course-keeping quality is significant in ship navigation due to time-saving and reduced fuel consumption (Prpic-Orsic et al., 2016). To achieve quality ship course-keeping and generate accurate heading angles, a controller that considers ship hydrodynamics—including both internal and external disturbance parameters—should be installed (Lee et al, 2009). Keeping a ferry ship on course differs from sea-going ships due to navigation environments and ship particulars (Prpic-Orsic et al., 2016). The navigation environment’s complexity, and especially wind-load forces and moment, makes ferry ships with large superstructures more susceptible to marine accidents (Fujiwara and Ueno, 2006). Many studies have related wind effects to ship maneuvering; wind’s load-force and moment have significantly affected transversal and lateral projections of windage areas due to ships’ large superstructures, as well as wind velocities and directions relative to ships (Fujiwara and Ueno, 2006). Paroka et al. (2016) simulated wind’s effect on ferry ships’ maneuvering, explaining that ship-speed changes caused by wind highly depend on wind velocity and direction. When the wind blows from the bow direction and passes to the ship's starboard (0 to 100o), ship speed tends to decrease. The corresponding decrease in ship speed is insignificant when the wind blows from a starboard direction and passes to the ship’s stern (100 to 180o). Meanwhile, when the wind blows from the side of a ship (20 to 140o), it tends to change the ship’s direction. A ship’s directional deviations due to wind vary by ship type, and a steering response is required. Ohtsu et al. (1996) reported that a wind blowing from starboard-bow quarters (45o) made a ship’s steering becomes less sensitive, but steering became more sensitive when the wind came from the port-stern quarters (135o). Increasing a ship’s speed as wind directions change is crucial (Ohtsu et al., 1996; Paroka et al., 2016). The information informing this behavior is essential to improve ships’ course-keeping quality—especially when ships must take appropriate action to handle wind disturbances. The improving quality of a ship’s course-keeping ability in windy conditions is strongly influenced by steering responses to wind-blowing loads through an appropriately configured rudder system design (Hasegawa et al., 2006). Steering control plays an essential role in responding to external forces to a ship’s yaw motion stability and course-keeping ability during maneuvers (Paroka, 2020).
Many efforts to improve ships’ maneuvering have been conducted
using twin-rudder ship controllers. Yoshimura and
Sakurai (1989) investigated the effect of a ship-fitted, twin-rudder,
twin-propeller configuration on ships’ maneuvering. They found that a
twin-rudder, twin-propeller configuration’s hydrodynamic characteristics did
not differ significantly from the corresponding characteristics of a
single-propeller, single-rudder ship. Khanfir et
al. (2008) proposed predicting a mathematical model coefficient on ships’
maneuvering when fitted with a twin-propeller, twin-rudder configuration.
Furthermore, Khanfir et al. (2011) conducted
captive model tests and free-running tests with a single-propeller, twin-rudder
ship and a twin-propeller, twin-rudder ship. These tests aimed to evaluate
drift angles’ effect on rudder forces and the peculiar phenomena concerning a normal
rudder force for twin-rudder ships.
Other parameters that affect ships’ maneuvering
performance include the distance of spacing between single rudders in
twin-rudder ships. Gim (2013) conducted a
twin-rudder performance test in a circulating water channel using particle
image velocimetry (PIV). He set the distance between two single rudders to 0.5–1.0
times the chord length of the rudder. He found that this spacing distance
between rudders in twin-rudder configurations was also affected by interactions
between rudders, and he also found that this critical distance should be less
than 1.0 times the chord length of the rudder in order to decrease the turbulence
flow and vortices. This result was similar to the findings of Chen et al. (2018), who used numerical simulation
to confirming the excellent characteristics of twin-rudder ships compared to single-rudder
ships. Chen et al. (2018) concluded that a
ship fitted with a twin-rudder configuration would operate very well at 15o
rudder angles. Additionally, the twin rudders’ effective performance stopped at
a lateral spacing equal to 1.3 times the chord length of the rudder.
These previous
studies have shown that a rudder system’s configuration is the most crucial feature
in achieving ship controllability goals. A rudder system must alter ship
control to the desired heading angle, due to both internal and external
disturbance parameters. The current paper focuses on applying the twin-rudder
system to improve ferries’ course-keeping quality under windy conditions. By simulating
fluctuating wind velocity and directions according to a ship’s operating route,
quality course-keeping and accurate heading angles may be achieved, increasing
the ship’s safety.
This
study has analyzed a twin-rudder-system configuration’s influence on a ship’s
course-keeping ability under various wind speeds and directions through the MATLAB-Simulink
computer-simulation program. The results indicated that applying a twin-rudder
system to ferry ships’ to improve their course-keeping ability under windy
conditions is very effective using a PID controller, reducing ship deviation and
increasing ship speed by adjusting the ship's heading angle to the desired
path. The track
trajectory time in
the ferry’s course-keeping highly depends on wind velocity and direction. When the wind blows from the starboard and portside
to the stern (98 to 268o), a ship’s
travel time tends to benefit compared to when the wind blows from the bow to
the side. This
research shows that the PID controller method can be applied to assist ships’ movements
due to other environmental influences, such as waves and currents. However, ships’
course-keeping quality highly depends on the selected PID parameters.
The
authors would like to thank the Institute for Research and Community Service
(LPPM) at Hasanuddin University. Unhas Basic Research supported this work under Grant No.
2006/UN4.1/KEP/2019. The authors would also like to thank the PT. (Persero)
ASDP Indonesia Ferry Branch of Selayar and PT. (Persero) Biro Klasifikasi
Indonesia (BKI) for their sea-trial and ship-data collection. The authors
convey their gratitude to Mr. Muhammad Fahmi Kamil for his assistance during
the study’s simulation.
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