Abstract
A supervisory propulsion controller module, a speed and position sensing system, and a communication system that are incorporated on marine vessels to reduce the wave-making resistance of the multiple vessels by operating them in controlled and coordinated spatial patterns to destructively cancel their Kelvin wake transverse or divergent wave system through active control of the vessels separation distance with speed. This will enable improvement in the vessel's mobility (speed, payload and range), improve survivability and reliability and reduce acquisition and total ownership cost.
Claims
1. Two or more marine vessels operating in coordinated and controlled spatial separation to reduce wave-making resistance, where the optimal spatial separation is determined by the number of vessels, vessels speed and where their position within the vessels' arrangement/constellation is determined by propulsion power, fuel load and other operational parameters with a means of controlling their spatial separation and arrangement within the constellation utilizing a supervisory control system comprised of; sensors such as radar, LIDAR, GPS or other known sensor means to measure spatial separation and a controller with a means to determine the optimal spatial arrangement and effect the vessels spatial positions by controlling propulsion/speed and location/maneuvering; and where control information for the vessels will be communicated across the radio link, and that output will be coordinated with the vessel control system and where the vessels can be manned or unmanned where operational control of the unmanned vessels' constellation is from an autonomous supervisory controller on the marine vessels or a remote command/control location.
2. A supervisory control system of claim 1 where the control system can adjust the vessels' speed and spatial positions to align the vessels to be in phase with the seaway's predominant energy wave length in addition to the required spatial separation to reduce Kelvin wake wave-making resistance therefore minimizing the propulsion control response and fuel usage, where the seaway's predominant energy wave length is determined from a sea-wave forecast system and/or from the vessels surge motions and/or wave measurement sensors.
3. Marine vessels of claim 1 where the vessels can be identical or differing in hullform and physical characteristics including but not limited to length, draft and displacement.
4. Marine vessels of claim 2 where the vessels can be identical or differing in hullform and physical characteristics including but not limited to length, draft and displacement.
5. A supervisory control system of claim 1 that reads a set of sensory status information from each vessel including but not limited to propulsion status, rudder control surface, vessel speed and inertial data, relative vessel spatial position and utilizes that information to maintain/update a model simulation of the coordinated vessel fleet where model information from each of the vessels will assign a Lead and Following vessels relative positions within the constellation and be used by the Vessel Coordination Layer on the lead vessel to command the desired offsets for each vessel in the formation to minimize wave-making resistance and where the Vessel Coordination Layer will then use the relative position of the vessels to compute the propulsion thrust and rudder outputs for each vessel to adjust and maintain the spatial separation by determining the output (thrust, rudder control) of each power plant/rudder system in order for the fleet to move in unison through the water with controlled spatial separation and where control information for vessels will be communicated across a radio link where the output will be coordinated with the vessels control system and where the control algorithms used to adjust vessel course and speed can also determine when the fleet of vessels needs to break formation for safety reasons.
6. A supervisory control system of claim 2 that reads a set of sensory status information from each vessel including but not limited to propulsion status, rudder control surface, vessel speed and inertial data, relative vessel spatial position and forecast and or measured sea-wave information) and utilizes that information to maintain/update a model simulation of the coordinated vessel fleet where model information from each of the vessels will assign a Lead and Following vessels relative positions within the constellation and be used by the Vessel Coordination Layer on the lead vessel to command the desired offsets for each vessel in the formation to minimize wave-making resistance and where the Vessel Coordination Layer will then use the relative position of the vessels to compute the propulsion thrust and rudder outputs for each vessel to adjust and maintain the spatial separation by determining the output (thrust, rudder control) of each power plant/rudder system in order for the fleet to move in unison through the water with controlled spatial separation and where control information for vessels will be communicated across a radio link where the output will be coordinated with the vessels control system and where the control algorithms used to adjust vessel course and speed can also determine when the fleet of vessels needs to break formation for safety reasons.
7. A supervisory controller of claim 1 that when underway repositions the marine vessels within the constellation to evenly balance the propulsion and maneuvering loads and respective fuel loads of the marine vessels such that they can all have the same transit range.
8. A supervisory controller of claim 2 that when underway repositions the marine vessels within the constellation to evenly balance the propulsion and maneuvering loads and respective fuel loads of the marine vessels such that they can all have the same transit range.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] FIG. 1 shows plan and elevation views of a marine vessel (amphibious vehicle shown as an example) and its Kelvin wake while traveling at the primary hump speed. Transverse waves are those waves traveling roughly perpendicular to the vessel's track where the solid lines 1 depicts the transverse wave troughs, the dashed lines 2 the wave crests and 3 the transverse wave length. Divergent waves are those waves traveling diagonally outwards. At low Froude numbers the wave energy is dominated by the transverse waves and is spread almost uniformly from one side of the Kelvin angle 4 to the other. As Froude number and speed increases the wave amplitude of the transverse waves decreases and the wave amplitude of the diverging waves increase, and their energy begins to concentrate towards the outer regimes of the Kelvin angle.
[0025] FIG. 2 shows the Kelvin wake's transverse wave length vs. speed where the transverse wave length =2v.sup.2/g (where is the transverse wave length, v is the vessel speed and g is the acceleration due to gravity).
[0026] FIG. 3 shows the wave-making resistance vs. speed for a marine vessel (amphibious vehicle shown as an example). Traditional marine vessels have large hydrodynamic resistance dominated by wave-making at hump speeds. The majority of vessel wave-making resistance is in the Kelvin wake's transverse-wave field component which results in peaks (significantly higher power requirements) when the transverse wave lengths are 0.67 times (1 ) 6 and 2 times ( ) 5 the craft length (known as the secondary and primary humps). Wave-making resistance is lowest when the transverse wave length () equals the vessel length 8.
[0027] FIG. 4 is an elevation view showing the transverse wave for a single marine vessel 38 operating at hump speed, (as shown as FIG. 3 location 5), where the transverse wave length 42 is 2 times the vessels length 41. Also shown is a single marine vessel 39 operating at its sweet spot speed, (as shown as FIG. 3 location 8), where the transverse wave length and the vessel's length are equal 43. (Amphibious vehicle shown for example).
[0028] FIG. 5 is an elevation view showing the transverse waves and wave cancellation 46 for tandem amphibious marine vehicles where the aft vehicle 48 and its transverse wave 45 is positioned to destructively cancel the transverse wave 44 of the lead vehicle 47. Tandem vehicle positions are depicted for transverse wave cancellation at the primary hump speed 40 and for the sweet spot 49 speed (11 kts 40 and 6.5 kts 49 respectively for a 35 ft waterline length vehicle).
[0029] FIG. 6 shows wave-making resistance vs. speed for a single 41 and for tandem 42 amphibious marine vehicles. The tandem vehicles operating at optimal spatial separation distances illustrates the transverse wave cancellation is effective below, thru and above the vehicles' hump speed. Below the primary hump vehicles are closely spaced and at a speeds higher than hump speed where the vehicle's transverse wave is longer the vehicles are therefore spatially separated at greater distances. (Amphibious vehicles performance shown for illustration.)
[0030] FIG. 7 shows a notional 130 ft Length Over All (LOA) trimaran geometry that will be used as an illustrative example of a marine vessel. It is important to note the destructive wave cancelation described is independent of hull form type.
[0031] FIG. 8 shows a profile (elevation) and plan view depicting the transverse Kelvin wake for the trimaran hullform of FIG. 7 traveling at a 16 kt speed. Transverse wave crests and troughs are depicted as dark and light shades respectively.
[0032] FIG. 9 is the wave-making resistance vs speed for a single trimaran as shown in FIG. 7.
[0033] FIG. 10 shows a plan view of two notional 130 ft trimaran marine vessels in a tandem fleet formation. The spatial separation is defined by the longitudinal bow to bow separation distance and the lateral vessel centerline to vessel centerline separation distance.
[0034] FIG. 11 shows the effect on wave-making resistance of longitudinal spatial separation for two tandem trimaran vessels of FIG. 10 as compared to a single trimaran vessel at a 16 kt vessel speed. The average wave-making resistance for the 2 vessel arrangement is shown as the dashed line 13. Wave-making resistance for a single vessel is shown as the solid line 12. Lateral separation of the vessels is fixed at 60 ft.
[0035] FIG. 12 shows the effect on wave-making resistance of lateral spatial separation for two trimaran vessels of FIG. 10 as compared to a single trimaran vessel at a 16 kt vessel speed. The average wave-making resistance for the 2 vessel arrangement is shown as the dashed line 10. Wave-making resistance for a single vessel is shown as the solid line 11. Longitudinal separation of the vessels is fixed at 350 ft. Note that the reduction in wave-making resistance is not highly dependent on the following vessel's lateral location. This effect occurs at Froude numbers and speeds below hump where the following vessel is located in the transverse wave field.
[0036] FIG. 13 shows the effect on wave-making resistance of longitudinal spatial separation for two tandem trimaran vessels of FIG. 10 as compared to a single trimaran vessel at a 25 kt vessel speed. The average wave-making resistance for the 2 vessel arrangement is shown as the dashed line 17. Wave-making resistance for a single vessel is shown as the solid line 16. Lateral separation of the vessels is fixed at 130 ft.
[0037] FIG. 14 shows the effect on wave-making resistance of lateral spatial separation for two trimaran vessels of FIG. 10 as compared to a single trimaran vessel at a 25 kt vessel speed. The average wave-making resistance for the 2 vessel arrangement is shown as the dashed line 15. Wave-making resistance for a single vessel is shown as the solid line 14. Longitudinal separation of the vessels is fixed at 500 ft. Note that the largest reduction in wave-making resistance occurs when the following vessel's lateral location is aligned with the Kelvin wakes divergent waves. This effect occurs at Froude numbers and speeds above the hump speed.
[0038] FIG. 15 is a visual representation of the Kelvin wake transverse wave cancellation and resultant wave-making resistance reduction for the two trimaran vessels operating at 16 kts with optimal 60 foot lateral and 350 foot longitudinal spatial separation as depicted in FIGS. 11 and 12 respectively.
[0039] FIG. 16 is a visual representation showing three trimaran vessels that are spatially positioned to cancel the transverse Kelvin waves at 16 kts.
[0040] FIG. 17 is a visual representation of 4 vessel fleet formation operating at 16 kts illustrating the Kelvin wake transverse wave cancellation and the resultant reduction in wave-making resistance.
[0041] FIG. 18 compares the wave-making resistance for a: 2 vessel 21, 3 vessel 22 and 4 vessel 23 fleet, when spatially optimized at 16 and 25 kts, to a single vessel's wave-making resistance 20. Wave-making resistance for the 2, 3 and 4 fleet vessels is an average of all the vessels.
[0042] FIG. 19 is a visual representation of a 2 vessel fleet formation operating at 16 kts where the following vessel is longitudinally spaced at 2 transverse wave lengths illustrating the Kelvin wake transverse wave cancellation and the resultant reduction in wave-making resistance. (Note, FIG. 15 is a visual representation at 1 transverse wavelengths.)
[0043] FIG. 20 compares the wave-making resistance for two, 2 vessel fleets with one of the 2 vessel fleet's longitudinal spacing at 1 transverse waves 33 and the other 2 vessel fleet's longitudinal spacing at 2 transverse waves 32 to the wave-making resistance of a single vessel 31. Note there is little difference in the wave-making resistance for the vessels at the longitudinal spacing of 1 and 2 transverse waves.
[0044] FIG. 21 shows seaway spectral energy distribution and the predominant wave lengths and celerity speeds at the wave period where the maximum sea state energy occurs 50. For Sea States 2 thru 6 the predominant energy wave lengths and wave celerity speeds are 55 ft. and 10 kts. 55; 125 ft. and 15 kts. 54; 225 ft. and 20 kts 53; 350 ft. and 25 kts 52; and 500 ft. and 30 kts. 51.
[0045] FIG. 22 depicts a 3 vessel fleet comprised of 130 ft. trimarans operating at 16 kts in sea state 3 in a head (or following) seaway. The Sea State 3 seaways predominant energy wave length (approximately 200 ft) is shown. The vessels are longitudinally spaced at 1 transverse waves for cancellation of the Kelvin wake's transverse waves to minimize wave-making resistance. At this spatial separation the lead and following vessels are also in phase (at a seaway 2 wave length spacing) with the highest energy seaway waves. By being in phase with the seaway surging motion of the vessels are also in phase minimizing the change in longitudinal spatial separation.
[0046] FIG. 23 depicts a 3 vessel fleet comprised of 130 ft. trimarans operating at 16 kts in sea state 3 at a heading of 20 or 200 degrees to the seaway. The two following vessels are spatially positioned at 1 & 2 transverse waves aft of the lead vessel. This spatial positioning cancels the Kelvin wake's transverse waves while aligning the vessels to be in phase with the seaway predominant energy wave length (at 2 and 3 wave lengths spacing) as shown. By being in phase with the seaway surging motion of the vessels are also in phase minimizing the change in longitudinal spatial separation.
[0047] FIG. 24 shows a 3 vessel fleet comprised of 130 ft. trimarans operating at 16 kts, in sea state 3, in bow or stern quartering seas. The seaway predominant energy wave length is shown. The two following vessels are spatially positioned at 1 & 2 transverse waves aft of the lead vessel. This spatial positioning cancels the Kelvin wake's transverse waves while aligning the vessels to be in phase with the seaway predominant energy wave length (at a 2 wave length spacing) as shown. By being in phase with the seaway surging motion of the vessels are also in phase minimizing the change in longitudinal spatial separation.
[0048] FIG. 25 depicts a 3 vessel fleet comprised of 130 ft. trimarans operating in sea state 4+ at 16 kts in a head (or following) seaway. The seaway predominant energy wave length (approximately 350 ft.) is shown. The two following vessels are spatially positioned at 1 transverse waves aft of the lead vessel. This spatial positioning cancels the Kelvin wake's transverse waves while aligning the vessels to be in phase with the seaway predominant energy wave length (at a single wave length spacing) as shown. By being in phase with the seaway surging motion of the vessels are also in phase minimizing the change in longitudinal spatial separation.
[0049] FIG. 26 depicts a 3 vessel fleet operating at 16 kts in sea state 4+ in bow or stern quartering seas. The seaway predominant energy wave length (approximately 350 ft.) is shown. The two following vessels are spatially positioned at 1 & 2 transverse waves aft of the lead vessel. This spatial positioning cancels the Kelvin wake's transverse waves while aligning the vessels to be in phase with the seaway predominant energy wave length (at a single wave length spacing) as shown. By being in phase with the seaway surging motion of the vessels are also in phase minimizing the change in longitudinal spatial separation.
DETAILED DESCRIPTION OF THE INVENTION
[0050] The subject invention is comprised of:
[0051] Two or more marine vessels where each vessel has a modular supervisory spatial positioning, propulsion and maneuvering controller with supporting spatial sensors and communication system to control the marine vessels spacing distance and therein cancel the combined Kelvin transverse or diverging wake field to reduce the vessels wave-making resistance.
[0052] Referring now to the drawings in detail, the subject invention reduces the wave-making resistance of marine vessels by up to 75% by operating them in a controlled and spatially coordinated pattern to destructively cancel their transverse wave system (shown in FIGS. 15, 16 and 17). Through active control of their separation distance the wave-making resistance reduction is optimized over the entire range of operational speeds (shown in FIGS. 6 and 18). The subject invention consists of intelligent, supervisory propulsion and maneuvering controller modules with appropriate sensors to measure and control the marine vessels spatial separations and to reduce their in-water propulsion requirements. Additionally the supervisory propulsion controller module of our invention optimizes the vessels spatial separation for seaway sea state conditions by sensing the seaway's predominant energy wave length and adjusting the fleet vessels speed and spatial arrangement as shown in FIGS. 22, 23, 24, 25 and 26. These capabilities enable improvement in the marine vessels' ship-to shore mobility (speed, payload and range), improve survivability and reliability and reduce acquisition and total ownership cost.
[0053] The invention minimizes the marine vessel's current limiting hydrodynamic hump speeds by reducing the wave-making resistance by means of canceling each vessel's transverse wave or divergent wave. For two marine vessels, wave cancelation is maximized at all speeds by adaptively changing the vessel spatial separation with speed as shown in FIGS. 4, 5 and 6. The effect of longitudinal and lateral spacing as defined in FIG. 10, on the reduction in wave-making resistance for two 130 ft trimaran marine vessels (FIG. 7) is shown in FIGS. 11 and 12 at a 16 kt speed and FIGS. 13 and 14 for a 25 kt speed. At 16 kts a change in longitudinal spacing of 15 ft. from the optimal 345 ft spacing has a minimal effect on the reduction in wave-making resistance as shown in FIG. 11. The effect of lateral spacing on the reduction in wave-making resistance at a 16 kt speed is negligible for lateral a positioning of 0 ft. (aligned with lead vessel) up to a 100 ft. lateral offset distance. At 25 kts a 25 ft deviation from the 510 ft optimal longitudinal spacing has only a small effect of on the reduction in wave-making resistance as shown in FIG. 13. The lateral position of the following vessel at 25 kts is along the diverging Kelvin waves. A deviation of between +15 ft from the optimal position of 130 ft has only a small effect of on the reduction in wave-making resistance as shown in FIG. 14. These positioning tolerances permit a sufficient time for the vessels' Spatial Controllers and vessels' propulsion and maneuvering systems to accommodate and respond to seaway induced lateral, longitudinal and directional motions.
[0054] Note however, the subject invention also works for an additional number of marine vessels. FIG. 18 shows the vessel average wave-making resistance for 2, 3 and 4 vessel fleets at 16 and 25 kts compared to a single vessel's wave-making resistance. Vessel formations and depictions of the Kelvin wake transverse wave cancellation for the 2, 3 and 4 vessel fleets at 16 kts are shown in FIGS. 15, 16 and 17. Additional vessels (5, 6 or more) will also achieve similar wave-making resistance reduction when positioned aft of vessel 4 at the appropriate transverse wave longitudinal and lateral positions.
[0055] The subject invention is also appropriate for fleets consisting of vessels of differing configurations such as type of hullform, length or displacement (as opposed to identical vessels). As the Kelvin wakes transverse and divergent wave length are only dependent on the vessel's speed the fleet vessel's longitudinal and lateral spatial separation would be the same for vessels of identical or differing configurations.
[0056] Concept of Operation: The invention is engaged by the lead vessel supervisory controller (and/or coxswain if manned) for multiple vessel reduced resistance operation in-water mobility. Radar and/or a differential GPS-based location system or equivalent sensor system is used to provide extremely accurate relative positions of the vessels separation distances. Relative positioning information of the two or more vessels is provided to the supervisory propulsion and maneuvering controller to direct the vessels' propulsion and maneuvering systems to maintain required vessels separation for Kelvin wake wave cancelation. For unmanned vessels, the supervisory controller is embedded in the mission planning and vessel control autonomy. For manned vessels operation, the invention does not operate with complete autonomy; the objective being to enhance the multiple vessels coxswains' ability to operate the vessel more efficiently. The invention is packaged to support initial or retrofit integration into marine vessels. For a commanded speed of advance, the invention adjusts the marine vessels' propulsion and maneuvering systems to automatically maintain the required separation distance between the vessels to destructively cancel the wave-making resistance of the multiple vessels. Additionally, the control system can adjust the vessels' speed and spatial positions to align the vessels to be in phase with the seaway predominant energy wave length minimizing the propulsion control response. The system has multiple redundancies and sensors to ensure sufficient safe vessel stand-off distance is maintained and will adjust for sea state. Additionally, the control system can sense and monitor each vessel's propulsion and maneuvering system health and fuel usage and reposition vessels within the fleet to evenly distribute propulsion and maneuvering system duty cycle usage and fuel usage. For example, changing positions with the lead vessel which has larger resistance and greater propulsion and fuel usage with one of the aft vessels which have less resistance and less propulsion and fuel usage.
[0057] While the present invention as described herein with reference to particular embodiment shown in the drawings, it is to be understood that various changes and modifications may be affected therein by those skilled in the art without departing from the scope or spirit of this invention.
