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Dynamics Modeling and Control of Mooring Lines While Cargo Vessels Loading

Rasa, Roya | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50052 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. large ships should only make very small horizontal movements at the berth for efficient loading. This is especially a concern in ports facing the open ocean directly, where high swells at sea can cause harbor oscillations and low-frequency surge motions of the ship. A developed mooring unit, the MoorMaster, which replaces conventional mooring lines is addressed here. The hydraulics of the system have a strong reducing effect on the motions of the moored ship. Measurements have shown that the surge motion of container ships was reduced from an amplitude in the order of 1 metre to an amplitude in the order of 5 centimetres, by using MoorMaster units. In here MoorMaster action is divided to two different states. In the f8irst state; mechanism controls transfer mechanism arms to suitable position and joint with ship. The second state is passive mechanism state that lock in last position and the controller is passive so that springs and dampers appliance in mechanism carry passively apply forces from ship to mechanism. In the first step dynamics model of MoorMaster is extracted by using numerical simulations. Then design a Controller to control the mechanism to stick to the vessel’s body. In the second state; interaction between the moored ship and the mechanism is investigated. Then a controller is designed that gives MoorMaster the ability of applying suitable forces and torques to ships in the freedom direction, per ship behavior. The results are given in a series of figures
  9. Keywords:
  10. Mooring ; Dynamic Modeling ; Moor Master Units ; Shore-Based Mooring ; Vacuum Based Automated Mooring ; Automated Moorings

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