Test Bench Algorithms for Catamaran Roll Simulation

Abstract

Creation of seaworthiness catamaran system required two stages: computer simulation and prototyping of software and hardware. To commit second stage we made test bench to perform catamaran roll, calculations and collecting experiment data. Possibility of making calculation like on real onboard vessel deck is required. Thus test bench is a Stewart platform which performs catamaran deck roll and computer connected to the platform performs calculations. 3-DOF sensor mounted on movable plate of platform give us roll and pitch. Using transfer function approximation of Pierson-Moskowitz spectrum and Runge-Kutta 4-order method with constant step size we make software for sea-wave simulation, catamaran roll generation, filtering data and general calculation. Software we make is a set of command-line applications performing their tasks. Test bench allows us repeat experiments and debug software and algorithms, compare recorded and simulated data.