Operational sea passage scenario generation for virtual testing of ships using an optimization for simulation approach
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ORIGINAL ARTICLE
Operational sea passage scenario generation for virtual testing of ships using an optimization for simulation approach Endre Sandvik1 · Jørgen Bremnes Nielsen1 · Bjørn Egil Asbjørnslett1 · Eilif Pedersen1 · Kjetil Fagerholt2 Received: 19 December 2018 / Accepted: 15 September 2020 © The Author(s) 2020
Abstract In this paper, a model for implementation of sea passage operational scenarios in the context of simulation-based design of ships is presented. To facilitate the transition towards more energy-efficient shipping, the ability to evaluate and understand ship and ship system behaviour in operational conditions is central. By introducing an optimization model in virtual testing frameworks, operational scenarios can be generated that enhances scenario relevance and testing abilities. The optimization for simulation approach provides speed and course commands based on an optimization framework which factors in the operational considerations and sea state conditions in the area of operation. Impact on the understanding of ship system performance using simulation is assessed in a case study where a sea passage over the North Pacific is replicated for varying operational scenarios and seasons. It is found that the variation of operational scenario, affecting the sea state and speed relation, causes significant differences in required power and fuel consumption estimates. Sea passage control is found to be an important dimension in virtual testing approaches. Keywords Virtual testing · Virtual captain · Optimization for simulation · Sea passage scenario · Propulsion system List of symbols AIS Automatic identification system RPM Revolutions per minute ETA Estimated time of arrival KVLCC2 Case vessel tanker MCR Maximum continuous rating RMS Root mean square fc Fuel consumption rate in particular sea state f̄c Weighted average fuel consumption rate h Weather forecast horizon n Number of candidate headings ns Number of candidate segments t ≤ h up Period between speed and heading re-evaluations sc Planned route segment t ≤ h t Planning horizon time * Endre Sandvik [email protected] 1
Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway
Department of Industrial Economics and Technology Management, Norwegian University of Science and Technology, Trondheim, Norway
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tc Current time ga t1−2 Speed profile time variables vh Vessel speed t ≤ h vl Vessel speed t > h ga v1−3 Speed profile speed variables vc New speed for simulation dest Destination location (latc , lonc) Current latitude and longitude (lat𝜓vst , lon𝜓vst) Candidate route latitude and longitude 𝛼 Wave propagation direction 𝜏r Estimated delay on route r 𝜅 Delay cost rate 𝜓c New heading for simulation 𝛤 Set of sea states in table look-up model Ar Distance to destination t > h CrtFH Fuel consumption per nautical mile t ≤ h CrF Fuel consumption per nautical mile t > h Dr Waypoint distance t ≤ h Hs Significant wave height R𝜓vh st Set of candidate routes wit
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