1、 GUIDE FOR VESSEL MANEUVERABILITY MARCH 2006 Guide to Color Coding Used in Online Version of the Rules The following summarizes the colors corresponding to Rule Changes, Corrigenda items and editorial changes in the Rules files which are available for download. Rule Changes: Corrigenda: CORRIGENDA/E
2、DITORIALS 5 June 2006 Editorials: Editorial Changes GUIDE FOR VESSEL MANEUVERABILITY MARCH 2006 American Bureau of Shipping Incorporated by Act of Legislature of the State of New York 1862 Copyright 2006 American Bureau of Shipping ABS Plaza 16855 Northchase Drive Houston, TX 77060 USA This Page Int
3、entionally Left Blank ABSGUIDE FOR VESSEL MANEUVERABILITY .2006 iii Foreword This Guide is intended to assist users in applying IMO maneuvering standards and to allow the Owner, designer and builder to rate the vessels maneuvering performance relative to statistical data of vessel maneuvering charac
4、teristics. The Guide summarizes the procedures to be used in assessing a vessels maneuvering performance. ABS welcomes comments and suggestions for improvement of this Guide. Comments or suggestions can be sent electronically to rsdeagle.org. This Page Intentionally Left Blank ABSGUIDE FOR VESSEL MA
5、NEUVERABILITY .2006 v GUIDE FOR VESSEL MANEUVERABILITY CONTENTS SECTION 1 Introduction 1 1 General Description .1 2 Description and Requirements of Optional Class Notations3 3 Submittals, Surveys and Maintenance of Optional Class Notation5 4 General Definitions and Nomenclature6 TABLE 1 Requirements
6、 for Optional Class Notations.4 FIGURE 1 General Sequence of Maneuverability Assessment2 FIGURE 2 Definitions of Rudder and Bow Profile Dimensions .7 FIGURE 3 Types of Stern Profiles.7 SECTION 2 Standards and Criteria.9 1 Overview of Standards and Criteria.9 2 Turning Ability 10 2.1 Definitions .10
7、2.2 Advance and Tactical Diameter Criteria11 3 Initial Turning/Course Changing and Yaw Checking Ability .12 3.1 Definitions .12 3.2 The First Overshoot Angle in the 10/10 Zig-zag Maneuver Criteria12 3.3 The Second Overshoot Angle in the 10/10 Zig-zag Maneuver Criteria13 3.4 The First Overshoot Angle
8、 in the 20/20 Zig-zag Maneuver Criteria14 3.5 Resulting Overshoot Angle Rating 14 3.6 Initial Turning Ability Criterion .14 4 Stopping Ability 15 4.1 Definitions .15 4.2 Track Reach Criterion .15 4.3 Head Reach Criterion15 vi ABSGUIDE FOR VESSEL MANEUVERABILITY .2006 5 Straight-line Stability and Co
9、urse Keeping Ability .17 5.1 Definitions17 5.2 The Pull-out Test .18 5.3 Tests for Straight-line Unstable Vessels19 5.4 Maximum Width of Unstable Loop.20 TABLE 1 Overview of Standards and Criteria.9 FIGURE 1 Turning Circle Test.10 FIGURE 2 Rating of Turning Ability.11 FIGURE 3 10/10 Zig-zag Maneuver
10、 Test12 FIGURE 4 Stopping Ability Test 16 FIGURE 5 Relation between Rudder Angle and Yaw (Turn) Rate for Straight-line Unstable Vessel.18 FIGURE 6 Pull-out Test.19 FIGURE 7 Maximum Width of Unstable Loop.20 SECTION 3 Prediction of Maneuverability. 21 1 General 21 2 Comparative Prediction21 3 Numeric
11、al Simulation.21 3.1 General21 3.2 Data Sources for Hydrodynamic Coefficients22 3.3 Model Test as a Source of Data for Hydrodynamic Coefficients22 3.4 Maneuvering Simulation23 4 Scale Model Test .24 5 Validation of Prediction of Maneuverability24 FIGURE 1 Scheme of Planar Motion Mechanism with Three
12、 Degrees of Freedom 22 SECTION 4 Sea Trials 25 1 Required and Recommended Maneuvers.25 2 Conditions of Trials 25 3 Guidelines on Test Procedures .26 3.1 Turning Circle Maneuver .26 3.2 Zig-zag Maneuver .26 3.3 Stopping Test (Crash Stop).27 3.4 Pull-out Test 28 3.5 Spiral Maneuver 28 4 Data Acquisiti
13、on Instrumentation .29 5 Information to Submit.29 FIGURE 1 Elements of 10/10 Zig-zag Maneuver27 ABSGUIDE FOR VESSEL MANEUVERABILITY .2006 vii SECTION 5 Onboard Information .31 1 General 31 2 Wheelhouse Poster31 3 Pilot Card .32 APPENDIX 1 Example 33 1 General Ship Data .33 2 Prediction of Maneuverab
14、ility in Early Design Stage.34 2.1 Prediction and Evaluation of Elements of Turning Circle.34 2.2 Prediction and Evaluation of Stopping Ability34 3 Maneuvering Simulation 35 3.1 Hydrodynamic Coefficients .35 3.2 Mathematical Model35 3.3 Simulation of Turning Circle 38 3.4 Simulation of 10/10 Zig-zag
15、 Test.40 3.5 Simulation of the 20/20 Zig-zag Test.43 3.6 Simulation of the Pull-out Test 46 3.7 Simulation of Direct Spiral Maneuver48 3.8 Simulation of Stopping 52 3.9 Evaluation of Maneuverability Based on Simulation56 TABLE 1 General Data for Sample Ship.33 TABLE 2 Prediction of Turning Circle in
16、 Early Design Stage34 TABLE 3 Prediction of Stopping Ability in Early Design Stage34 TABLE 4 Hydrodynamic Coefficients 35 TABLE 5 Parameters of Turning Circle.40 TABLE 6 Parameters of 10/10 Zig-zag Maneuver 43 TABLE 7 Parameters of 20/20 Zig-zag Maneuver 45 TABLE 8 Parameters of Pull-out Maneuver 47
17、 TABLE 9 Parameters of Direct Spiral Maneuver.52 TABLE 10 Parameters of Stopping Maneuver 55 TABLE 11 Evaluation of Maneuverability56 FIGURE 1 Turning Circle: Axial Velocity .38 FIGURE 2 Turning Circle: Sway Velocity 38 FIGURE 3 Turning Circle: Yaw Rate.39 FIGURE 4 Turning Circle: Yaw Angle .39 FIGU
18、RE 5 Turning Circle: Trajectory.40 FIGURE 6 10/10 Zig-zag Maneuver: Axial Velocity 41 FIGURE 7 10/10 Zig-zag Maneuver: Sway Velocity .41 FIGURE 8 10/10 Zig-zag Maneuver: Yaw Rate 41 FIGURE 9 10/10 Zig-zag Maneuver: Yaw and Rudder Angles 42 viii ABSGUIDE FOR VESSEL MANEUVERABILITY .2006 FIGURE 10 10/
19、10 Zig-zag Maneuver: Trajectory42 FIGURE 11 20/20 Zig-zag Maneuver: Axial Velocity 43 FIGURE 12 20/20 Zig-zag Maneuver: Sway Velocity .44 FIGURE 13 20/20 Zig-zag Maneuver: Yaw Rate 44 FIGURE 14 20/20 Zig-zag Maneuver: Yaw and Rudder Angles 44 FIGURE 15 20/20 Zig-zag Maneuver: Trajectory45 FIGURE 16
20、Pull-out Maneuver: Axial Velocity 46 FIGURE 17 Pull-out Maneuver: Sway Velocity .46 FIGURE 18 Pull-out Maneuver: Yaw Rate 46 FIGURE 19 Pull-out Maneuver: Yaw and Rudder Angles.47 FIGURE 20 Pull-out Maneuver: Trajectory47 FIGURE 21 Direct Spiral Maneuver, Starboard: Axial Velocity.48 FIGURE 22 Direct
21、 Spiral Maneuver, Starboard: Sway Velocity48 FIGURE 23 Direct Spiral Maneuver, Starboard: Yaw Rate.49 FIGURE 24 Direct Spiral Maneuver, Port: Axial Velocity 49 FIGURE 25 Direct Spiral Maneuver, Port: Sway Velocity .49 FIGURE 26 Direct Spiral Maneuver, Port: Yaw Rate 49 FIGURE 27 Direct Spiral Maneuv
22、er, Starboard: Yaw and Rudder Angles .50 FIGURE 28 Direct Spiral Maneuver, Port: Yaw and Rudder Angles 50 FIGURE 29 Direct Spiral Maneuver, Starboard: Trajectory 51 FIGURE 30 Direct Spiral Maneuver, Port: Trajectory51 FIGURE 31 Relation between Rudder Angle and Yaw (Turn) Rate52 FIGURE 32 Time Histo
23、ry of Engine RPM during Stopping Maneuver .53 FIGURE 33 Time History of Commanded Speed during Stopping Maneuver53 FIGURE 34 Stopping Maneuver: Axial Velocity 54 FIGURE 35 Stopping Maneuver: Sway Velocity .54 FIGURE 36 Stopping Maneuver: Yaw Rate 54 FIGURE 37 Stopping Maneuver: Yaw Angle.55 FIGURE 3
24、8 Stopping Maneuver: Trajectory55 APPENDIX 2 Definitions and Nomenclature for Maneuvering Simulation. 57 APPENDIX 3 Theoretical Background 63 1 Forces Acting on Vessel in Horizontal Plane.63 1.1 Straight Forward Sailing with Constant Speed 63 1.2 Rudder Forces.63 1.3 Hydrodynamic Forces on Hull .64
25、1.4 Other Forces Acting on Vessel During a Maneuver 65 ABSGUIDE FOR VESSEL MANEUVERABILITY .2006 ix 2 Equations of Motions in Horizontal Plane65 2.1 Accepted System of Coordinates and General Equations of Motions.65 2.2 Expressions for the Hull Forces in Linear Formulation .66 2.3 Taylor Series Expa
26、nsion of Hull Forces 67 2.4 Concept of Hydrodynamic Derivatives 68 2.5 Expressions for Rudder Forces.69 2.6 Linear Equations of Motion .69 2.7 Equations of Motions in Standard (Cauchy) Form.71 2.8 Solution of Linear Equations of Motions72 2.9 Steady Turning74 3 Directional Stability 75 3.1 Vessel Be
27、havior in Horizontal Plane and Steady Turning75 3.2 Stability of Motion76 3.3 Evaluation of Straight-line Stability76 3.4 Measure of Straight-line Instability 78 4 Nonlinear Equations of Motion.79 4.1 General .79 4.2 Surging Equation.80 4.3 Swaying Equation .82 4.4 Yawing Equation .84 FIGURE 1 Strai
28、ght Ahead Sailing with Constant Forward Speed.63 FIGURE 2 Geometry and Forces on Rudder 64 FIGURE 3 On the Moment of Rudder Lift Force .64 FIGURE 4 Hydrodynamic Forces on the Hull64 FIGURE 5 Vessel Hull as Lifting Surface 65 FIGURE 6 Earth and Ship-fixed Coordinate Systems.66 FIGURE 7 Reaction on Sm
29、all Perturbation if Eigenvalues are Negative.75 FIGURE 8 Stability of Equilibrium76 FIGURE 9 Relation between Rudder Angle and Yaw (Turn) Rate for Straight-line Stable Vessel.78 FIGURE 10 Relation between Rudder Angle and Yaw (Turn) Rate for Straight-line Unstable Vessel.79 FIGURE 11 Model for Thrus
30、t/Resistance Balance81 APPENDIX 4 Empirical Methods of Prediction of Maneuverability87 1 Empirical Prediction .87 1.1 Advantages and Applicability of Empirical Prediction Methods 87 1.2 Prediction of Elements of Turning Circle .87 1.3 Empirical Formulae for the Stopping Track Reach89 x ABSGUIDE FOR
31、VESSEL MANEUVERABILITY .2006 TABLE 1 Limitations of Empirical Technique for Prediction of Turning Circle.87 TABLE 2 Numerical Values for Boundaries of the Coefficient A.89 TABLE 3 Numerical Values for Boundaries of the Coefficient B.90 APPENDIX 5 Forms 91 1 Form for Reporting Maneuvering Data by Sur
32、veyor92 2 Form for Reporting Maneuvering Data to ABS by Shipyard.93 APPENDIX 6 Environmental Correction of Results of Sea Trials 95 FIGURE 1 Correction of Trajectory for Current, Wind and Waves 96 APPENDIX 7 Sample Wheelhouse Poster and Pilot Card 97 FIGURE 1 Layout of the Wheelhouse Poster97 PART 1
33、 Drafts and Propulsion 98 PART 2 Ships Particulars, Steering and Loading Conditions.99 PART 3 Man Overboard Rescue Maneuver* 100 PART 4 Anchor Chain .101 PART 5 Turning Circles at Maximum Rudder Angle .101 PART 6 Emergency Stopping in Loaded Conditions.102 PART 7 Emergency Stopping in Ballast Condit
34、ions103 PART 8 Stopping Characteristics 104 PART 9 Visibility Characteristics .105 FIGURE 2 Sample of One Sided Pilot Card106 FIGURE 3 Sample of Double Sided Pilot Card .107 APPENDIX 8 Human Element (Factor) Considerations 109 1 General 109 2 ABS Guidance Notes on the Application of Ergonomics to Ma
35、rine Systems .110 3 ABS Guidance Notes on Ergonomic Design of Navigation Bridges.110 4 ABS Guide for Crew Habitability on Ships.110 5 Bridge Resource Management Practices 111 APPENDIX 9 References 113 ABSGUIDE FOR VESSEL MANEUVERABILITY .2006 1 SECTION 1 Introduction 1 General Description The Intern
36、ational Maritime Organization (IMO) approved Standards for Ship Maneuverability IMO 2002a and IMO 2002b and encouraged the application of these standards for vessels constructed after 2004. The IMO standards specify the type of standard maneuvers and associated criteria. Some port and flag states al
37、ready have adopted some of IMO standards as their national requirements. An International Standard also exists for planning, conducting and reporting sea trials ISO 2005. ABS (the Bureau) provides this Guide to help its clients prepare for implementation of the IMO standards and application of the r
38、elevant procedures. Minimum requirements given in this Guide are consistent with IMO standards. An optional class notation, MAN, offered for compliant vessels could be used as evidence of adherence to the IMO standards (see Section 1, Table 1). The Bureau may assign another optional class notation,
39、MAN-A, as defined in Section 1, Table 1. This optional class notation is in compliance with IMO Standards and signifies demonstration of maneuvering performance superior to IMO Standards. Maneuvering performance of a vessel is judged based on maneuvering criteria which are characteristic of several
40、maneuvers. These maneuvers and their criteria, as well as the required numerical values, are described in Section 2 of this Guide. This Guide summarizes the procedures to be used in assessing a vessels maneuvering performance with an explanation of requirements in Subsection 1/2. Criteria of the man
41、euvering performance are described in Section 2. There are two ways to assess maneuvering performance and demonstrate compliance with IMO Standards. See Section 1, Figure 1. Full scale sea trials in full load conditions could be used for the demonstration of compliance with IMO standards. The requir
42、ements for the sea trials are described in Section 4. Appendix 5 contains forms for the results of sea trials and Appendix 6 describes a procedure of environmental correction for sea trials. Prediction of maneuverability validated by full scale sea trials could be used for the demonstration of compl
43、iance with IMO standards. Prediction of maneuverability performance in the design stage enables a designer to take appropriate measures in good time to achieve compliance with IMO standards. The prediction of the maneuvering could be carried out with the following methods: using existing data, or sc
44、aled model test, or numerical simulation or any combination of the three listed methods. See Section 3 for details. The prediction method is to be validated with the full scale trials. If full scale sea trials are used for the validation of maneuvering prediction methods, the trials do not have to b
45、e carried out in full load conditions. Once the prediction method is validated it may be used to demonstrate compliance with IMO standard for a vessel in full load conditions. Results of maneuvering prediction and sea trials are also used for the wheelhouse poster recommended by IMO Resolution A.601
46、(16) IMO 1987. Contents and source of maneuverability data needed for the wheelhouse poster and pilot card are described in Section 5. A sample of the wheelhouse poster and pilot card is given in Appendix 7. Section 1 Introduction 2 ABSGUIDE FOR VESSEL MANEUVERABILITY .2006 FIGURE 1 General Sequence
47、 of Maneuverability Assessment Prediction ofmaneuverabilityFull scale trialsat full loadValidation withfull scale trialsIf compliance is demonstrated, considered to meet IMO standard.Optional cless notation MAN may be assigned by the Bureau.If ABS maneuvering rating equals or exceeds 2.5, optional c
48、lassnotation MAN-A my be assigned by the BureauIMO StandardsRequirements for optional class notation MANRequirementsfor optionalclassnotation MAN-AThe Guide also contains a large amount of reference material along with practical recommendations and samples. Appendix 1 contains a detailed sample of t
49、he numerical simulation with all the necessary equations of motion, data on hydrodynamic forces and intermediate results. Appendix 3 reviews the background information on physical phenomena behind vessel maneuvering. Appendix 2 is a detailed nomenclature for the mathematical model used in Appendices 1 and 3. The Guide contains some sample methods for Empirical assessment of turning and stopping ability in the early design stage. Their advantage is to indicate possible problems with maneuvering performance as soon as principal dimensions, hull form coefficients, speed, power and
