Sailing Performance of Ocean Cruising Yacht by Full-Scale Sea Test

Masuyama, Yutaka; Nakamura, Ichiro; Tatano, Hisayoshi; Sakaguchi, Kazuo; Kanekiyo, Tadashi

doi:10.2534/jjasnaoe1968.1993.174_377

Cited by 5 publications

(5 citation statements)

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“…Despite these difficulties, after the data is reduced according to a well-known and widely used statistical test, reasonable trends appear. The curves for follow the trends to be found in many sources that report sail force coefficients [7,9,12]. The new component of the model, , looks to be relatively constant with β eff .…”

Section: Discussionmentioning

confidence: 96%

“…A linear curve is fitted to these average points, resulting in Eq. (12), which is used in all subsequent analysis to calculate δ b0 from measured β eff . Currently, a hydrodynamic model of the hull, keel, and rudder has not been accurately estimated for the test vehicle.…”

Section: Discussionmentioning

confidence: 99%

“…The new model is a modification of a previous model [12] that describes the aerodynamic forces in the body coordinate system, with origin at the center of gravity (c.g. ), rather than in terms of lift and drag coefficients:…”

Section: The New Modelmentioning

confidence: 99%

“…The optimal sail coefficients for the simulated yacht are given in [12], but the optimal sail angles are not. Thus, an assumption is made that for points of sail ranging from upwind through a beam reach, that the sail deflection angle varies linearly with β A .…”

Section: Simulationmentioning

confidence: 99%

“…As a first test to the viability of this model, it is implemented in a Simulink model based on Fossen's [13] equations of motion, and hydrodynamic and rudder forces based on yacht parameters given for a 10m IMS racer [12,14]. The 4DOF equations of motion used in this simulation are given by: …”

Section: Simulationmentioning

confidence: 99%

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A modified model, simulation, and tests of a full-scale sailing yacht

Legursky

2012

2012 Oceans

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Sailing yachts have great potential to act as future long-term oceanic observing platforms, yet to date there have not been complete autonomous sailing systems robust enough to handle long term operation in the harsh and continually changing ocean environment. The basis of control system design is a mathematical model capable of describing and capturing the physics based dynamics of the sailboat. The mathematical model represents the system to be controlled, however, a sailing yacht is a very difficult system to model from a controls perspective because of its heavy reliance on the uncontrolled spatial and temporal distribution of the wind. Presented in this paper is a modified aerodynamic force model which includes the sail angle as a control input to the sailing yacht system. The new model has been incorporated into a 4 degree of freedom (DOF) rigid body dynamic yacht model, and implemented in MATLAB/Simulink. The simulations shows model exhibits similar behavior to that observed in full scale sailing yacht sea trial data. Data taken aboard a Precision 23 day-sailer is analyzed, and it is found that the model is a likely candidate for including sail input to a physics based dynamic model for identification and control system design.

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Section: Discussionmentioning

confidence: 96%

Section: Discussionmentioning

confidence: 99%

Section: The New Modelmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

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A modified model, simulation, and tests of a full-scale sailing yacht

Legursky

2012

2012 Oceans

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Field experiments and new design of a spilled oil tracking autonomous buoy

et al. 2013

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It is important to forecast the location of oil spills to realize effective and adequate oil spill response operations when huge oil spilsl occur. In order to enhance the accuracy of oil drifting simulations, one needs to obtain the meteorological and oceanographic data around the oil slick. In general, the drifting velocity vector of an oil spill contains a wind velocity vector and a water current velocity vector. SOTAB-II was developed for autonomous tracking of oil slicks drifting on the sea surface. It is equipped with a sail whose size and direction are controllable to drift along with the oil slick autonomously. In addition, SOTAB-II transmits its location and necessary measured data around it to the land base in real-time. The results of field experiments using SOTAB-II with a cylindrical hull brought us the effectiveness of the sail and its control. However, the drifting speed of SOTAB-II was lower than a theoretical speed for the oil slick. In order to overcome this problem, SOTAB-II was redesigned. A yacht shape was adopted to reduce the hydrodynamic drag in the water in the advancing direction. Transverse stability, scales of brake board and sail, maneuverability, and performance of tracking spilled oil on the sea surface were considered in the process of the design.

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