Title of report and Project No.:
Ship Description
Ship 3427
Cruise Vessel
Service Condition
"Voyager of the Seas"
Client: Ref.: DMI 2006293
Author(s): Ole Tersløv Date: 2007-02-15
Approved by:
Revision Description By: Checked: Approved: Date:
2 Corrections in wind and shallow water OT 2007-02-15
1 Original version OT 2007-02-15
Keywords:Manoeuvring characteristics Ship characteristics Equilibrium speeds Standard manoeuvres Other characteristic manoeuvres
Classification:
Open
Internal
X Confidential
FORCE Technology ii
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
Abbreviations
LBP, LPP Length between perpendiculars LOA Length over allB BreadthBmld Moulded BreadthTa Draft aft
Tf Draft foreT, Tm Draft Average LCB Longitudinal center of buoyancy FP Fixed pitchCP Controllable pitch
CL Center Linedeg Degreess Seconds Kg Kilogramm Meters
m2 Square meters m3 Cubic meterskW KilowattRPM Revolutions per minute SB Starboard side
PS Port side
FORCE Technology 1
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
1 Manoeuvring Characteristics
The ship is a cruise vessel with pod drive. It is fitted with three pods, the centre one
being fixed. The ship’s behaviour is dependant upon whether the centre pod is working
or not.
For all pods working its turning ability as seen from the turning circle is about average.
The manoeuvring ability is very good with an overshoot of only 4 degrees in a 20-20 zig-
zag. And the ship is course stable and seaworthy in this condition.
When only wing pods are working, the turning ability is good. The manoeuvring ability at
full speed is also good, with a first overshoot of 8 deg. in a 20-20 zig-zag. The ship is
marginally course stable and seaworthy.
The pods and thrusters give the ship good low-speed manoeuvrability. The stopping
ability is good when thrusters are turned to give astern thrust. It hardly rolls in 3 m
waves.
FORCE Technology 2
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
2 Ship Characteristics
Type of ship ConditionShip No.
Cruise Vessel Service3427
Displacement m3
Length between Perpendiculars m
Length overall m
Breadth moulded m
Depth moulded m
Draught fore/aft m
Wetted Surface m²
Frontal wind Area m²
Lateral wind Area m²
Block Coefficient based on Lpp m
Trim by the Stern, %
Metacentric Height m
LCB, % of LPP forw. of LPP/2 %
Radius of Inertia, % of LPP %
60704
274.73
311.12
38.6
11.70
8.60 / 8.60
12008
2363
11843
0.666
0.0
2.66
-4.80
25
Type of Engine
Number of Propellers
Type of Propellers
Direction of Rotation
Number of Blades
Propeller Diameter m
Pitch Ratio at 0.7R
Area Ratio
Shaft Power (ahead) total kW
Diesel-electric
3
FP
2 outwards, 1 right hand
4
2 of 5.6, 1 of 5.4
2 of 1.087, 1 of 1.128
2 of 0.568, 1 of 0.613
3 x 14.000
Number of Rudders
Type of Rudders
Position from Centre Line m
Area of Rudder m²
100 x total rudder Area/LBP x T
Turning Velocity of Rudder (two Pumps) deg/s
Max. rudder Angle deg
2
pods
10.0
-
-
5.0
+/- 180
Anchor Weight kg
Chain Weight kg/m
20.000
354
Number of bow Thrusters
Nominal bow thruster Power kW
Number of stern Thrusters
Nominal stern thruster Power kW
4
4 x 3000 ~ 4 x 41 t
0
-
Table 2-1: Ship characteristics
FORCE Technology 3
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
3 Equilibrium Speeds
Wing Propellers only Speed, Knots ShipEngineSetting RPM Pitch 1000 m 10.32 m
1.0 136 1.087 19.1 Grounded
0.8 100 “ 14.3 10.7
0.5 77 “ 11.0 9.0
0.25 54 “ 7.2 6.0
0.125 39 “ 4.5 3.7
-0.125 -39 “ -3.5 -2.9
-0.25 -54 “ -5.2 -4.6
-0.5 -77 “ -8.4 -7.4
-1.0 -100 “ -11.3 -9.5
All three Propellers Speed, Knots ShipEngineSetting RPM Pitch 1000 m 10.32 m
1.0 144 1.087 + 1.128 22.1 Grounded
0.8 100 “ 15.7 11.8
0.5 77 “ 12.1 9.8
0.25 54 “ 8.3 6.9
0.125 39 “ 5.3 4.5
Table 3-1: Propeller RPM and pitch, and equilibrium speeds for various handle settings for two water depths: deep water and shallow water corresponding to 1.2 times the mean draught.
FORCE Technology 4
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
4 Standard Manoeuvres
With wing pods only operating
RunNo.
Waterdepth[m]
Type of ManoeuvreInitial speed[kts]
Podangle[deg]
Enginesetting
Thruster Bow/Aft
101
102
103
1000
1000
1000
35 deg SB Turning Circle
35 deg PS Turning Circle
35 deg SB Turning Circle
19.1
19.1
0
-35
35
-35
1.0
1 -> 0
0 -> 1
0 / 0
0 / 0
0 / 0
104
105
106
1000
1000
1000
Crash Stop
Normal Stop
Stop from Half Speed
19.1
19.1
11.0
0
0
0
1 -> -1
1 -> -0.5
0.5 -> -1
0 / 0
0 / 0
0 / 0
107
119
1000
1000
Bow Thruster Full SB
Turning with Engines
0
0
0
0
0
0.5 /-0.5
1 / 0
0
110
111
1000
1000
Wind 15 m/s from side
Wind 15 m/s from side
0
19.1
0
0
0
1.0
0 / 0
0 / 0
112
113
114
1000
1000
1000
20-20 Zig-Zag
10-10 Zig-Zag
Spiral test
19.1
19.1
19.1
20 -> -20
10 -> -10
-15 -> 15
1.0
1.0
1.0
0 / 0
0 / 0
0 / 0
115
116
1000
10.32
Course keeping in 15 m/s
Course keeping in 15m/s
7.0
6.0
Autopilot
Autopilot
0.35
0.35
0 / 0
0 / 0
121
122
10.32
10.32
35 deg SB Turning Circle
35 deg SB Turning Circle
9.0
0
-35
-35
0.5
0 -> 1.0
0 / 0
0 / 0
Table 4-1: Standard Manoeuvres: Starboard Rudder Angles Negative Engine Settings 1.0 = Full Ahead Thruster Settings 1.0 = Full Starboard
FORCE Technology 5
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
With all three pods operating
RunNo.
Waterdepth[m]
Type of ManoeuvreInitial speed[kts]
Podangle[deg]
Enginesetting
Thruster Bow/Aft
171
172
173
1000
1000
1000
35 deg SB Turning Circle
35 deg PS Turning Circle
35 deg SB Turning Circle
22.1
22.1
0
-35
35
-35
1.0
1 -> 0
0 -> 1
0 / 0
0 / 0
0 / 0
174
175
176
1000
1000
1000
Crash Stop
Normal Stop
Stop from Half Speed
22.1
22.1
12.1
0
0
0
1 -> -1
1 -> -0.5
0.5 -> -1
0 / 0
0 / 0
0 / 0
177
189
1000
1000
Bow Thruster Full SB
Turning with Engines
0
0
0
0
0
0.5 /-0.5
1 / 0
0 / 0
180
181
1000
1000
Wind 15 m/s from side
Wind 15 m/s from side
0
22.1
0
0
0
1.0
0 / 0
0 / 0
182
183
184
1000
1000
1000
20-20 Zig-Zag
10-10 Zig-Zag
Spiral Test
22.1
22.1
22.1
20 -> -20
10 -> -10
-15 -> 15
1.0
1.0
1.0
0 / 0
0 / 0
0 / 0
191
192
10.32
10.32
35 deg SB Turning Circle
35 deg SB Turning Circle
9.8
0
-35
-35
0.5
0 -> 1.0
0 / 0
0 / 0
Table 4-2: Standard Manoeuvres: Starboard Rudder Angles Negative Engine Settings 1.0 = Full Ahead Thruster Settings 1.0 = Full Starboard
FORCE Technology 6
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
5 Further Check Manoeuvres
RunNo.
Waterdepth[m]
Type of ManoeuvreInitial speed[kts]
Podangle[deg]
Enginesetting
Thruster Bow/Aft
141
142
143
144
1000
1000
1000
1000
Going astern, rudder amidships
Going astern, 10 deg. SB rudder
Going astern, 10 deg. PS rudder
Going astern in wind
-1.9
-1.9
-1.9
-1.9
0
-10
10
0
-0.125
-0.125
-0.125
-0.125
0 / 0
0 / 0
0 / 0
0 / 0
150
151
17.2
17.2
Roll damping, sailing
Roll damping, sailing
11.0
11.0
0
Autopilot
0.5
0.5
0 / 0
0 / 0
161
162
163
10.32
10.32
10.32
Hitting fender with bow
Hitting fender with stern
Hitting fender with side
1.9
-1.9
1.0
0
0
0
0
0
0
0 / 0
0 / 0
0 / 0
200
201
202
1000
1000
1000
Roll damping
Heave damping
Pitch damping
0
0
0
0
0
0
0
0
0
0 / 0
0 / 0
0 / 0
203
204
205
206
207
208
210
211
1000
1000
1000
1000
1000
1000
1000
1000
SB turn in 3 m waves
PS turn in 3 m waves
SB turn in 15 m/s wind
PS turn in 15 m/s wind
Drifting in 15 m/s wind
Sailing in 15 m/s wind
Drifting in 3 m waves
Sailing in 3 m waves
19.1
19.1
19.1
19.1
0
19.1
0
19.1
-35
35
-35
35
0
Autopilot
0
Autopilot
1
1
1
1
0
1
0
1
0 / 0
0 / 0
0 / 0
0 / 0
0 / 0
0 / 0
0 / 0
0 / 0
220
221
222
223
224
10.32
10.32
10.32
10.32
10.32
Sailing free
Sailing, dragging SB anchor
Drifting, SB anchor out
Drifting, free
Drifting, SB anchor out
1.3
1.3
0
0
0
0
0
0
0
0
0.125
0.125
0
0
0
0 / 0
0 / 0
0 / 0
0 / 0
0 / 0
Table 5-1: Further check manoeuvres: Engine Settings: 1.0 = Full Ahead Starboard rudder angles are negative.
FORCE Technology
Ship 3427, Cruise Vessel Service Condition
Last Updated: 2007-02-15
Appendix 1: Plots of Standard and Check Manoeuvres
Wing pods only operating Fig. A-1: Ship outline Fig. A-2: Wind coefficients Fig. A-3: Track plots: Turning circles, stopping and zig-zag manoeuvres, Run
101 – 113 and 121 - 122 Fig. A-4: Time series: Rudder angles and heading during zig-zag manoeuvres,
Run 112 and 113 Fig. A-5: Time series: Advance, speed and revolutions during stopping
manoeuvres, Run 104 and 105 Fig. A-6: Spiral test. Turn rate versus rudder angle, Run 114 Fig. A-7: Course keeping in wind; Deep and shallow water, Run 115 and 116 Fig. A-8: Track plots: Turning circles in wind and waves; drifting in wind and
waves, Run 203 – 211 Fig. A-9: Time series: Roll, heave and pitch decays, Run 200 – 202 Fig. A-10: Time series: Roll angle when turning in wind and waves, Run 203 -
206Fig. A-11: Time series: Roll and yaw angles for course keeping in waves. Run
208 and 211 Fig. A-12: Time series: Roll damping – sailing, Run 150 and 151 Fig. A-13: Track plots: Hitting fender, Run 161 – 163 Fig. A-14: Track plots: Going astern, Run 141 - 144 Fig. A-15: Track plots: Effect of anchor, Run 220 – 224 Fig. A-16: Squat at different depths and speeds, Run 125 – 127
All three pods operating Fig. A-17: Track plots: Turning circles, stopping and zig-zag manoeuvres, Run
171 – 183 and 191 - 192 Fig. A-18: Time series: Rudder angles and heading during zig-zag manoeuvres,
Run 182 and 183 Fig. A-19: Time series: Advance, speed and revolutions during stopping
manoeuvres, Run 174 and 175 Fig. A-20: Spiral test. Turn rate versus rudder angle, Run 184
Mathematical Ship Model No. 3674
Royal Princess
FORCE 112-26358 / 2013-09-18
Title of report and Project No.:
Ship Description
Ship 3674
Cruise Ship
Design Condition
Royal Princess
Client: Ref.: 112-26358
Author(s): Jonas Smith Frederiksen Date: 2013-09-18
Approved by:
Revision Description By: Checked: Approved: Date:
4 Update from Sea trial data JSF JFO 2013-09-18
3 Updated shallow water drift JSF JFO 2012-11-22
2 Revised combinatory and thruster modules
JSF JFO 2012-10-29
1 Original version JSF JFO 2012-10-18
Keywords: Manoeuvring characteristics Ship characteristics Equilibrium speeds
Classification:
Open
Internal
X Confidential
FORCE Technology i
Ship 3674, Cruise Ship Design Condition
Last Updated: 2013-09-18
List of Contents
Page
1 Ship Description ................................................................................................. 1
2 Basis for Mathematical Ship Model .................................................................... 1
3 Manoeuvring Characteristics ............................................................................. 2
4 Ship Particulars .................................................................................................. 3
5 Equilibrium Speeds ............................................................................................ 4
6 References ......................................................................................................... 5
Appendix A: Plots of Standard and Check Manoeuvres at Service Speed (22.2 knots).
Appendix B: Plots of Turning Circle and Zig-Zag Manoeuvres at 6 Knots for
Comparison with Manoeuvring Trials (See ref. /1/).
Nomenclature and Definitions LCB Longitudinal centre of buoyancy Lpp Length between perpendiculars R Radius of propeller T Draught
The ship is defined in a right hand coordinate system with x positive forward and y positive to starboard. The path of
the ship is referred to the origin of the ship, i.e. at the intersection between amidships and the centreline. Rudder
angles are defined positive to port.
Wind direction: Wind coming from [angle]
Wave direction: Waves going to [angle]
Current direction: Current going to [angle]
FORCE Technology 1
Ship 3674, Cruise Ship Design Condition
Last Updated: 2013-09-18
1 Ship Description
The ship is a 330 m long and 38.4 m wide cruise ship in design condition i.e. with a draught
for and aft of 8.3m. It is driven by two diesel electric engines of 18.77 MW each and has
two fixed pitch propellers. The service speed at the design draught is 22.2 knots. The vessel
is equipped with two spade rudders, three bow thrusters and three stern thrusters.
The simulator model of the vessel is made with a combinatory/load program corresponding
to “normal mode” and with crash stop in “emergency mode”. In reverse 70 % RPM is
available.
Documentation of standard and check manoeuvres can be found in Appendix A performed
at service speed of 22.2 knots. In Appendix B turning circles and zig-zag manoeuvres are
found performed in deep water at 6 knots for comparison purposes with the manoeuvring
trials performed by Fincantieri (See ref. /1/).
2 Basis for Mathematical Ship Model
The manoeuvring capabilities of the mathematical model of the ship are based on PMM
towing tank data of a similar cruise vessel. The sea-keeping properties of the hull have been
calculated using the FORCE Technology in-house software S-OMEGA and the simulator
model is tuned to match the sea-keeping results obtained by MARIN (See ref. /2/) with the
vessel being equipped with active fins and bilge keels. Wind load data has been obtained
from wind tunnel test measurements of the ship performed in the boundary layer wind
tunnel in Vienna (See ref. /3/).
The basis for the mathematical ship model is summarized in Table 2-1.
Effect (device)
Scaled
from
similar
model
Predicted
using
database
tool
(ShipYard)
Specific
model tests
(PMM/
wind
tunnel)
Specific
calculations
(CFD/
OMEGA)
Full scale
trial data
Hull hydrodynamics X X
Shallow water effects X
Propulsion & Rudder X
Wave loads X
Wind loads X
Bank effects X
Ship-ship interaction X
Hydrostatic forces X
Engine characteristic X
Anchor characteristic X
Table 2-1: Basis for Mathematical Ship Model
FORCE Technology 2
Ship 3674, Cruise Ship Design Condition
Last Updated: 2013-09-18
3 Manoeuvring Characteristics
The manoeuvring characteristics of the vessel show that the ship is course stable in yaw, as
seen from the spiral curve and is not expected to have steering difficulties. Its turning
ability is good as demonstrated by the turning circle test and the yaw-checking ability is
normal, when compared to other cruise ships with overshoot angles well below the IMO
limit. The stopping ability is good and below the IMO limit of 15 ship lengths.
The main manoeuvring characteristics of the mathematical ship model at 6 knots and 23
knots are listed in Table 3-1.
Parameter 3674
6.0 kn
3674
22.2 kn
IMO limit
22.2 kn
Turning circle, Advance 2.1 · Lpp 2.3 · Lpp 4.5· Lpp
Turning Circle, Tactical diameter 2.2 · Lpp 2.5 · Lpp 5.0· Lpp
10/10 zig-zag, 1st overshoot angle 3.6 deg 5.1 deg 18.4 deg
10/10 zig-zag, 2nd overshoot angle 5.6 deg 8.1 deg 37.6 deg
20/20 zig-zag, 1st overshoot angle 6.5 deg 10.6 deg 25 deg
20/20 zig-zag, 2nd overshoot angle 8.2 deg 12.5 deg 25 deg
Crash stop, Track reach 1.1 · Lpp 6.1 · Lpp 15· Lpp
Table 3-1: Manoeuvring Characteristics Track plots and time series from simulated standard manoeuvres are given in Appendix A and B. Note that the autopilot applied for the manoeuvres performed with autopilot uses heading control and not course control.
FORCE Technology 3
Ship 3674, Cruise Ship Design Condition
Last Updated: 2013-09-18
4 Ship Particulars
Type of ship Condition Ship No.
Cruise Ship Design 3674
Length between Perpendiculars m
Length overall m
Breadth moulded m
Depth moulded m
Draught fore/aft m
Displacement m3
Wetted Surface m²
Frontal wind Area m²
Lateral wind Area m²
Block Coefficient based on Lpp -
Trim by the Stern %
Metacentric Height m
LCB, % of Lpp forw. of Lpp/2 %
Radius of Gyration, /Lpp -
Radius of Gyration, /B -
306
330
38.4
21
8.3 / 8.3
66498
13919
1720
13446
0.682
0.0
2.98
-2.74
0.235
0.43
Type of Engine
Number of Propellers
Type of Propellers
Direction of Rotation
Number of Blades
Propeller Diameter m
Pitch Ratio at 0.7 R
Area Ratio
Shaft Power (ahead) total kW
Diesel Electric
2
FP
Inward
4
5.7
1.129
0.794
2 x 18200
Number of Rudders
Type of Rudders
Position from center line m
Area of Rudder (movable part) m²
Total rudder Area/(Lpp x T) %
Turning Velocity of Rudder (two Pumps) deg/s
Max. rudder Angle deg
2
Spade
5.8
2 x 29.8
2.35
4.64
+/- 35
Anchor Weight kg
Chain Weight kg/m
2 x 15000
212
Number of bow Thrusters
Nominal bow thruster Power (tunnel/retractable) kW
Number of stern Thrusters
Nominal stern thruster Power kW
3
3 x 2500 ~ 104 t.
3
3 x 2500 ~ 104 t.
Table 4-1: Ship Particulars
FORCE Technology 4
Ship 3674, Cruise Ship Design Condition
Last Updated: 2013-09-18
5 Equilibrium Speeds
Ship Engine Setting
Propeller Speed, knots
RPM Pitch 1000 m 9.96 m
1.0 136 1.129 22.2 Ground @
10.4
0.9 118 “ 19.6 “
0.8 102 “ 16.0 “
0.7 88 “ 13.2 8.7
0.6 75 “ 10.2 7.2
0.5 61 “ 7.6 5.5
0.4 49 “ 5.5 3.2
0.3 36 “ 3.0 2.2
0.2 25 “ 2.1 1.4
0.1 12 “ 1.2 0.7
-0.1 -15 “ -1.0 -0.6
-0.2 -27 “ -1.8 -1.0
-0.3 -41 “ -2.9 -1.7
-0.4 -54 “ -4.2 -2.5
-0.5 -67 “ -6.1 -3.7
-0.6 -81 “ -8.7 -5.1
-0.7 -95 “ -12.0 -7.1
-0.8 -95 “ -12.0 -7.1
-0.9 -95 “ -12.0 -7.1
-1.0 -95 “ -12.0 -7.1
Table 5-1: Propeller RPM and pitch, and equilibrium speeds for various handle settings
for two water depths: deep water and shallow water corresponding to 1.2 times the max draught.
FORCE Technology 5
Ship 3674, Cruise Ship Design Condition
Last Updated: 2013-09-18
6 References
/1/ Fincantieri, Drawing No 006223APN320011:
“Princess Cruise Vessel, Manoeuvrability Calculation, Low Speed Manoeuvring Predictions”, April 2011.
/2/ MARIN, Report No.24497-2-SMB:
“306 m Princess Cruiser; Seakeeping Model Tests, Volume 2 – Data Report- Analysis and Post-Processing of Measured Signals”, December 2010
/3/ MARIN, Report No. 24497-6-BT: “306 m Princess Cruise Ship; Crabbing Tests, Final Report”, November 2011.
Appendix A.
Mathematical Ship Model No. 3674Royal Princess
Plots of Standard and Check Manoeuvres
FORCE Technology Appendix A. 1
112−26358
18−Sep−2013
Ship 3674
List of Contents
Side View and Birds Eye View 3
Wind Coefficients 4
1. Turning Circle Starboard 5
2. Turning Circle Port 7
3. Turning Circle Starboard, Shallow Water 9
4. Zig−zag 10/10 11
5. Zig−zag 20/20 12
6. Combined Dieudonne− and Reverse Spiral 13
7. Acceleration 14
8. Crash Stop 15
9. Coasting Stop 16
10. Going Astern 17
11. Drifting in Wind 18
12. Sailing with Autopilot in Wind 20
13. Drifting in Current 22
14. Sailing with Autopilot in Current 24
15. Drifting in Waves 26
16. Sailing with Autopilot in Waves 28
FORCE Technology Appendix A. 2
112−26358
18−Sep−2013
Ship 3674
−150 −100 −50 0 50 100 150
−60
−40
−20
0
20
40
60
80
100
120
X [m]
Z [
m]
Side View of Ship 3674
−150 −100 −50 0 50 100 150
−100
−80
−60
−40
−20
0
20
40
60
80
100
X [m]
Y [
m]
Birds Eye View − Maximum Outline and Waterline
FORCE Technology Appendix A. 3
112−26358
18−Sep−2013
Ship 3674
0 45 90 135 180 225 270 315 360−1
−0.5
0
0.5
1
φ [deg]
CX [
−]
Wind Coefficients
0 45 90 135 180 225 270 315 360−1
−0.5
0
0.5
1
φ [deg]
CY [
−]
0 45 90 135 180 225 270 315 360−1
−0.5
0
0.5
1
φ [deg]
CK [
−]
0 45 90 135 180 225 270 315 360−0.1
−0.05
0
0.05
0.1
φ [deg]
CN
[−
]
FORCE Technology Appendix A. 4
112−26358
18−Sep−2013
Ship 3674
0 100 200 300 400 500 600 700 800
−200
0
200
400
600
800
1000
Transfer [m]
Ad
va
nce
[m
]
1. Turning Circle Starboard
FORCE Technology Appendix A. 5
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Approach speed : 22.2 knots
Rudder deflection : −35 deg
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 689 m
Transfer : 335 m
Tactical diameter : 772 m
Steady diameter : 386 m
1. Turning Circle Starboard
0 50 100 150 200 250 300 350 4000
5
10
15
20
25
Time [s]
Sp
ee
d [
kts
]
0 50 100 150 200 250 300 350 4000
20
40
60
80
Time [s]
Ra
te o
f tu
rn [
de
g/m
in]
0 50 100 150 200 250 300 350 4000
10
20
30
Time [s]
Drift
an
gle
[d
eg
]
FORCE Technology Appendix A. 6
112−26358
18−Sep−2013
Ship 3674
−800 −700 −600 −500 −400 −300 −200 −100 0
−200
0
200
400
600
800
1000
Transfer [m]
Ad
va
nce
[m
]
2. Turning Circle Port
FORCE Technology Appendix A. 7
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Approach speed : 22.2 knots
Rudder deflection : 35 deg
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 693 m
Transfer : 335 m
Tactical diameter : 782 m
Steady diameter : 391 m
2. Turning Circle Port
0 50 100 150 200 250 300 350 4000
5
10
15
20
25
Time [s]
Sp
ee
d [
kts
]
0 50 100 150 200 250 300 350 400−80
−60
−40
−20
0
Time [s]
Ra
te o
f tu
rn [
de
g/m
in]
0 50 100 150 200 250 300 350 400−30
−20
−10
0
Time [s]
Drift
an
gle
[d
eg
]
FORCE Technology Appendix A. 8
112−26358
18−Sep−2013
Ship 3674
0 100 200 300 400 500 600 700 800
−400
−200
0
200
400
600
800
Transfer [m]
Ad
va
nce
[m
]
3. Turning Circle Starboard, Shallow Water
FORCE Technology Appendix A. 9
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Approach speed : 5.5 knots
Rudder deflection : −35 deg
Water depth : h/T = 1.2
Results and Equilibrium Values
Advance : 567 m
Transfer : 385 m
Tactical diameter : 789 m
Steady diameter : 719 m
3. Turning Circle Starboard, Shallow Water
0 500 1000 15000
1
2
3
4
5
Time [s]
Sp
ee
d [
kts
]
0 500 1000 15000
5
10
15
20
Time [s]
Ra
te o
f tu
rn [
de
g/m
in]
0 500 1000 15000
2
4
6
8
Time [s]
Drift
an
gle
[d
eg
]
FORCE Technology Appendix A. 10
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Approach speed : 22.2 knots
Rudder/heading deflection : 10/10 deg
Results and Equilibrium Values
1st Overshoot Angle : 5.1 deg
2nd Overshoot Angle : 8.1 deg
Initial turning ability : 319 m
4. Zig−zag 10/10
0 50 100 150 200 250 300−20
−10
0
10
20
Time [s]
He
ad
ing
[−
de
g]
an
d R
ud
de
r [d
eg
]
0 50 100 150 200 250 300−10
−5
0
5
10
Time [s]
Drift
an
gle
[d
eg
]
0 50 100 150 200 250 300−50
0
50
Time [s]
Ra
te o
f T
urn
[d
eg
/min
]
FORCE Technology Appendix A. 11
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Approach speed : 22.2 knots
Rudder/heading deflection : 20/20 deg
Results and Equilibrium Values
1st Overshoot Angle : 10.6 deg
2nd Overshoot Angle : 12.5 deg
Initial turning ability : 359 m
5. Zig−zag 20/20
0 50 100 150 200 250 300 350−40
−20
0
20
40
Time [s]
He
ad
ing
[−
de
g]
an
d R
ud
de
r [d
eg
]
0 50 100 150 200 250 300 350−20
−10
0
10
20
Time [s]
Drift
an
gle
[d
eg
]
0 50 100 150 200 250 300 350−100
−50
0
50
100
Time [s]
Ra
te o
f T
urn
[d
eg
/min
]
FORCE Technology Appendix A. 12
112−26358
18−Sep−2013
Ship 3674
−15 −10 −5 0 5 10 15−20
−15
−10
−5
0
5
10
15
20
Rudder Angle [deg]
Ra
te o
f T
urn
[d
eg
/min
]
6. Combined Dieudonne− and Reversed Spiral
FORCE Technology Appendix A. 13
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Initial speed : 0.0 knots
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 11317 m
Speed : 21.4 knots
Revolutions : 128.3 RPM
Time : 1400 s
7. Acceleration
0 2000 4000 6000 8000 10000
−1000
0
1000
Tra
nsfe
r [m
]
Advance [m]
0 200 400 600 800 1000 1200 14000
5
10
15
20
25
Time [s]
Sp
ee
d [
kts
]
0 200 400 600 800 1000 1200 14000
50
100
150
Time [s]
Re
vo
lutio
ns [
RP
M]
FORCE Technology Appendix A. 14
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Initial speed : 22.2 knots
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 1850 m
Speed : 0.2 knots
Revolutions : −78.1 RPM
Time : 375 s
8. Crash Stop
0 200 400 600 800 1000 1200 1400 1600 1800 2000
−200
0
200
Tra
nsfe
r [m
]
Advance [m]
0 50 100 150 200 250 300 350 4000
5
10
15
20
25
Time [s]
Sp
ee
d [
kts
]
0 50 100 150 200 250 300 350 400−100
−50
0
50
100
150
Time [s]
Re
vo
lutio
ns [
RP
M]
FORCE Technology Appendix A. 15
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Initial speed : 22.2 knots
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 5764 m
Speed : 1.0 knots
Revolutions : 0.0 RPM
Time : 2075 s
9. Coasting Stop
0 1000 2000 3000 4000 5000
−500
0
500
Tra
nsfe
r [m
]
Advance [m]
0 500 1000 1500 2000 25000
5
10
15
20
25
Time [s]
Sp
ee
d [
kts
]
0 500 1000 1500 2000 25000
50
100
150
Time [s]
Re
vo
lutio
ns [
RP
M]
FORCE Technology Appendix A. 16
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Initial speed : −1.9 knots
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : −535 m
Speed : −1.6 knots
Revolutions : −18.0 RPM
Time : 595 s
10. Going Astern
−600 −500 −400 −300 −200 −100 0 100
−100
−50
0
50
100
Tra
nsfe
r [m
]
Advance [m]
0 100 200 300 400 500 600−2
−1.5
−1
−0.5
0
Time [s]
Sp
ee
d [
kts
]
0 100 200 300 400 500 600−19
−18.5
−18
−17.5
−17
−16.5
Time [s]
Re
vo
lutio
ns [
RP
M]
FORCE Technology Appendix A. 17
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Water depth : h/T = ∞
Wind speed : 15 m/s
Wind direction : 270 deg
Roll Angle : 1.5 deg
Results and Equilibrium Values
Longitudinal Speed : 0.2 knots
Transverse Speed : 1.4 m/s
11. Drifting in Wind
−300 −200 −100 0 100 200 300 400 500 600 700
−100
0
100
Transfer [m]
Ad
va
nce
[m
]
0 50 100 150 200 250 300 350 4000
0.05
0.1
0.15
0.2
0.25
Time [s]
Lo
ng
itu
din
al S
pe
ed
[kn
ots
]
0 50 100 150 200 250 300 350 4000
0.5
1
1.5
Time [s]
Tra
nsve
rse
Sp
ee
d [
m/s
]
FORCE Technology Appendix A. 18
112−26358
18−Sep−2013
Ship 3674
0 50 100 150 200 250 300 350 4000
0.2
0.4
0.6
0.8
He
ad
ing
[d
eg
]
Time [s]
11. Drifting in Wind
0 50 100 150 200 250 300 350 400−0.1
−0.05
0
0.05
0.1
Time [s]
He
ave
[m
]
0 50 100 150 200 250 300 350 4000
0.5
1
1.5
2
Time [s]
Ro
ll A
ng
le [
de
g]
0 50 100 150 200 250 300 350 400−0.1
−0.05
0
0.05
0.1
Time [s]
Pitch
An
gle
[d
eg
]
FORCE Technology Appendix A. 19
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Water depth : h/T = ∞
Wind speed : 15 m/s
Wind direction : 270 deg
Roll Angle : 2.8 deg
Results and Equilibrium Values
Longitudinal Speed : 23.1 knots
Transverse Speed : 0.4 m/s
12. Sailing with Autopilot in Wind
0 500 1000 1500 2000 2500 3000 3500 4000
−600
−400
−200
0
200
400
Tra
nsfe
r [m
]
Advance [m]
0 50 100 150 200 250 300 350 4000
10
20
30
Time [s]
Lo
ng
itu
din
al S
pe
ed
[kn
ots
]
0 50 100 150 200 250 300 350 4000
0.1
0.2
0.3
0.4
0.5
Time [s]
Tra
nsve
rse
Sp
ee
d [
m/s
]
FORCE Technology Appendix A. 20
112−26358
18−Sep−2013
Ship 3674
0 50 100 150 200 250 300 350 400−0.4
−0.2
0
0.2
0.4
He
ad
ing
[d
eg
]
Time [s]
12. Sailing with Autopilot in Wind
0 50 100 150 200 250 300 350 4000
0.01
0.02
0.03
0.04
0.05
Time [s]
He
ave
[m
]
0 50 100 150 200 250 300 350 4000
1
2
3
4
Time [s]
Ro
ll A
ng
le [
de
g]
0 50 100 150 200 250 300 350 400−0.1
−0.05
0
0.05
0.1
Time [s]
Pitch
An
gle
[d
eg
]
FORCE Technology Appendix A. 21
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Water depth : h/T = ∞
Current speed : 2 knots
Current direction : 90 deg
Roll Angle : −0.0 deg
Results and Equilibrium Values
Longitudinal Speed : −0.0 knots
Transverse Speed : 0.6 m/s
13. Drifting in Current
−400 −200 0 200 400 600
−100
0
100
Transfer [m]
Ad
va
nce
[m
]
0 50 100 150 200 250 300 350 400−8
−6
−4
−2
0
2x 10
−4
Time [s]
Lo
ng
itu
din
al S
pe
ed
[kn
ots
]
0 50 100 150 200 250 300 350 4000
0.2
0.4
0.6
0.8
Time [s]
Tra
nsve
rse
Sp
ee
d [
m/s
]
FORCE Technology Appendix A. 22
112−26358
18−Sep−2013
Ship 3674
0 50 100 150 200 250 300 350 400−0.25
−0.2
−0.15
−0.1
−0.05
0
He
ad
ing
[d
eg
]
Time [s]
13. Drifting in Current
0 50 100 150 200 250 300 350 400−0.1
−0.05
0
0.05
0.1
Time [s]
He
ave
[m
]
0 50 100 150 200 250 300 350 400−0.8
−0.6
−0.4
−0.2
0
Time [s]
Ro
ll A
ng
le [
de
g]
0 50 100 150 200 250 300 350 400−0.1
−0.05
0
0.05
0.1
Time [s]
Pitch
An
gle
[d
eg
]
FORCE Technology Appendix A. 23
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Water depth : h/T = ∞
Current speed : 2 knots
Current direction : 90 deg
Roll Angle : −0.1 deg
Results and Equilibrium Values
Longitudinal Speed : 22.2 knots
Transverse Speed : 1.0 m/s
14. Sailing with Autopilot in Current
0 1000 2000 3000 4000 5000 6000
−1000
−500
0
500
Tra
nsfe
r [m
]
Advance [m]
0 100 200 300 400 500 6000
10
20
30
Time [s]
Lo
ng
itu
din
al S
pe
ed
[kn
ots
]
0 100 200 300 400 500 6000
0.5
1
1.5
Time [s]
Tra
nsve
rse
Sp
ee
d [
m/s
]
FORCE Technology Appendix A. 24
112−26358
18−Sep−2013
Ship 3674
0 100 200 300 400 500 600−0.5
0
0.5
1
1.5
He
ad
ing
[d
eg
]
Time [s]
14. Sailing with Autopilot in Current
0 100 200 300 400 500 6000
0.01
0.02
0.03
0.04
0.05
Time [s]
He
ave
[m
]
0 100 200 300 400 500 600−6
−4
−2
0
2
Time [s]
Ro
ll A
ng
le [
de
g]
0 100 200 300 400 500 600−0.1
−0.05
0
0.05
0.1
Time [s]
Pitch
An
gle
[d
eg
]
FORCE Technology Appendix A. 25
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Water depth : h/T = ∞
Wave height (Hs) : 3 m
Wave period (Tp) : 9.1 s
Wave direction : 90 deg
Maximum Roll Angle : 4.6 deg
Results and Equilibrium Values
Longitudinal Speed : 0.1 knots
Transverse Speed : 0.7 m/s
15. Drifting in Waves
−400 −200 0 200 400 600
−100
0
100
Transfer [m]
Ad
va
nce
[m
]
0 50 100 150 200 250 300 350 400−0.02
0
0.02
0.04
0.06
0.08
Time [s]
Lo
ng
itu
din
al S
pe
ed
[kn
ots
]
0 50 100 150 200 250 300 350 4000
0.2
0.4
0.6
0.8
Time [s]
Tra
nsve
rse
Sp
ee
d [
m/s
]
FORCE Technology Appendix A. 26
112−26358
18−Sep−2013
Ship 3674
0 50 100 150 200 250 300 350 4000
0.5
1
1.5
He
ad
ing
[d
eg
]
Time [s]
15. Drifting in Waves
0 50 100 150 200 250 300 350 400−1
−0.5
0
0.5
1
Time [s]
He
ave
[m
]
0 50 100 150 200 250 300 350 400−5
0
5
Time [s]
Ro
ll A
ng
le [
de
g]
0 50 100 150 200 250 300 350 400−0.2
−0.1
0
0.1
0.2
Time [s]
Pitch
An
gle
[d
eg
]
FORCE Technology Appendix A. 27
112−26358
18−Sep−2013
Ship 3674
Initial Conditions and Controls
Water depth : h/T = ∞
Wave height (Hs) : 3 m
Wave period (Tp) : 9.1 s
Wave direction : 90 deg
Maximum Roll Angle : 4.9 deg
Results and Equilibrium Values
Longitudinal Speed : 22.3 knots
Transverse Speed : 0.1 m/s
16. Sailing with Autopilot in Waves
0 500 1000 1500 2000 2500 3000 3500 4000
−500
0
500
Tra
nsfe
r [m
]
Advance [m]
0 50 100 150 200 250 300 350 4000
10
20
30
Time [s]
Lo
ng
itu
din
al S
pe
ed
[kn
ots
]
0 50 100 150 200 250 300 350 4000
0.02
0.04
0.06
0.08
Time [s]
Tra
nsve
rse
Sp
ee
d [
m/s
]
FORCE Technology Appendix A. 28
112−26358
18−Sep−2013
Ship 3674
0 50 100 150 200 250 300 350 400−0.1
−0.05
0
0.05
0.1
0.15
He
ad
ing
[d
eg
]
Time [s]
16. Sailing with Autopilot in Waves
0 50 100 150 200 250 300 350 400−1
−0.5
0
0.5
1
Time [s]
He
ave
[m
]
0 50 100 150 200 250 300 350 400−5
0
5
Time [s]
Ro
ll A
ng
le [
de
g]
0 50 100 150 200 250 300 350 400−0.2
−0.1
0
0.1
0.2
Time [s]
Pitch
An
gle
[d
eg
]
FORCE Technology Appendix A. 29
112−26358
18−Sep−2013
Ship 3674
Appendix B.
Mathematical Ship Model No. 3674Royal Princess
Plots of Standard and Check Manoeuvres
FORCE Technology Appendix B. 1
112−26358
22−Nov−2012
Ship 3674
List of Contents
1. Turning Circle Starboard 5
2. Turning Circle Port 7
4. Zig−zag 10/10 11
5. Zig−zag 20/20 12
8. Crash Stop 15
FORCE Technology Appendix B. 2
112−26358
22−Nov−2012
Ship 3674
0 100 200 300 400 500 600 700 800
−200
0
200
400
600
800
Transfer [m]
Ad
va
nce
[m
]
1. Turning Circle Starboard
FORCE Technology Appendix B. 3
112−26358
22−Nov−2012
Ship 3674
Initial Conditions and Controls
Approach speed : 6.0 knots
Rudder deflection : −35 deg
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 628 m
Transfer : 280 m
Tactical diameter : 671 m
Steady diameter : 497 m
1. Turning Circle Starboard
0 200 400 600 800 1000 1200 14000
2
4
6
Time [s]
Sp
ee
d [
kts
]
0 200 400 600 800 1000 1200 14000
5
10
15
20
25
Time [s]
Ra
te o
f tu
rn [
de
g/m
in]
0 200 400 600 800 1000 1200 14000
10
20
30
Time [s]
Drift
an
gle
[d
eg
]
FORCE Technology Appendix B. 4
112−26358
22−Nov−2012
Ship 3674
−800 −700 −600 −500 −400 −300 −200 −100 0
−200
0
200
400
600
800
Transfer [m]
Ad
va
nce
[m
]
2. Turning Circle Port
FORCE Technology Appendix B. 5
112−26358
22−Nov−2012
Ship 3674
Initial Conditions and Controls
Approach speed : 6.0 knots
Rudder deflection : 35 deg
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 627 m
Transfer : 278 m
Tactical diameter : 671 m
Steady diameter : 496 m
2. Turning Circle Port
0 200 400 600 800 1000 1200 14000
2
4
6
Time [s]
Sp
ee
d [
kts
]
0 200 400 600 800 1000 1200 1400−25
−20
−15
−10
−5
0
Time [s]
Ra
te o
f tu
rn [
de
g/m
in]
0 200 400 600 800 1000 1200 1400−30
−20
−10
0
Time [s]
Drift
an
gle
[d
eg
]
FORCE Technology Appendix B. 6
112−26358
22−Nov−2012
Ship 3674
Initial Conditions and Controls
Approach speed : 6.0 knots
Rudder/heading deflection : 10/10 deg
Results and Equilibrium Values
1st Overshoot Angle : 3.6 deg
2nd Overshoot Angle : 5.6 deg
Initial turning ability : 293 m
4. Zig−zag 10/10
0 100 200 300 400 500 600 700 800 900−20
−10
0
10
20
Time [s]
He
ad
ing
[−
de
g]
an
d R
ud
de
r [d
eg
]
0 100 200 300 400 500 600 700 800 900−10
−5
0
5
10
Time [s]
Drift
an
gle
[d
eg
]
0 100 200 300 400 500 600 700 800 900−20
−10
0
10
20
Time [s]
Ra
te o
f T
urn
[d
eg
/min
]
FORCE Technology Appendix B. 7
112−26358
22−Nov−2012
Ship 3674
Initial Conditions and Controls
Approach speed : 6.0 knots
Rudder/heading deflection : 20/20 deg
Results and Equilibrium Values
1st Overshoot Angle : 6.5 deg
2nd Overshoot Angle : 8.2 deg
Initial turning ability : 326 m
5. Zig−zag 20/20
0 100 200 300 400 500 600 700 800 900 1000−40
−20
0
20
40
Time [s]
He
ad
ing
[−
de
g]
an
d R
ud
de
r [d
eg
]
0 100 200 300 400 500 600 700 800 900 1000−20
−10
0
10
20
Time [s]
Drift
an
gle
[d
eg
]
0 100 200 300 400 500 600 700 800 900 1000−20
−10
0
10
20
Time [s]
Ra
te o
f T
urn
[d
eg
/min
]
FORCE Technology Appendix B. 8
112−26358
22−Nov−2012
Ship 3674
Initial Conditions and Controls
Initial speed : 6.0 knots
Water depth : h/T = ∞
Results and Equilibrium Values
Advance : 293 m
Speed : 0.0 knots
Revolutions : −86.9 RPM
Time : 158 s
8. Crash Stop
−100 0 100 200 300 400
−50
0
50
Tra
nsfe
r [m
]
Advance [m]
0 20 40 60 80 100 120 140 1600
2
4
6
8
Time [s]
Sp
ee
d [
kts
]
0 20 40 60 80 100 120 140 160−100
−50
0
50
Time [s]
Re
vo
lutio
ns [
RP
M]
FORCE Technology Appendix B. 9
112−26358
22−Nov−2012
Ship 3674
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