ARTICLE IN PRESS

Ocean Engineering 34 (2007) 103121

www.elsevier.com/locate/oceaneng

On the development of ship anti-roll tanks

Reza Moaleji, Alistair R. Greig
Department of Mechanical Engineering, University College London, Torrington Place, London, WC1E 7JE, UK
Received 25 July 2005; accepted 8 December 2005
Available online 27 June 2006

Abstract

This paper reviews the development of ship anti-roll tanks from the 1880s to the present day including their modelling and control
strategies. Mention is also made of other ship roll stabilization systems and the application of the technology to stabilization of other
structures. The potential for the use of roll stabilization tanks on modern, high speed multi-hull craft which also have a low speed
operational requirement is also discussed.
r 2006 Elsevier Ltd. All rights reserved.

Keywords: Roll stabilization; Anti-roll tanks; Passive tanks; Active tanks; U-tanks; Trimarans

1. Introduction response time, in addition it occupied a considerable

volume in a prime location within the ship. This idea has
The excessive motion of a ship can seriously degrade the been recently revisited on a Japanese 190 t displacement
performance of machinery and personnel. Roll is typically high speed survey vessel which had a 3.5 t mass on a curved
the largest amplitude of the all the degrees of freedom and track under computer control (Koike et al., 1997). The
yet it is often the least damped. Simple damping of roll French aircraft carrier Charles de Gaulle has 500 t of
motion can be achieved by adjusting the underwater hull moveable masses mounted under its ight deck; these are
shape and by the addition of bilge keels but the addition used for heel compensation during tight turning man-
of any hull appendages will inevitably increase the hull oeuvres rather than roll compensation. An adaptive
resistance. Damping can only reduce motion, never control system is used which moves the masses to
eliminate it. counteract the forces induced by rudder motion (Sirehna,
In the age of sail, roll was not such a problem as the roll 2005).
of large sailing vessels is controlled by the action of the In the 1870s it was suggested that the single moving mass
wind on the sails and the large keel. Additionally there was be replaced with a transversely mounted tank partly lled
no power available to drive any stabilizing machinery. It with water, this improved the response time, eliminated the
was not until the advent of ocean going steam ships, with powering requirement and permitted tuning of the system
no sails and large coal bunkers that roll became a serious by varying the depth of the water in the tank. The simple
problem. Many ideas were suggested for the reduction of free surface tank was subsequently replaced by a pair of
roll. Some very early systems had cabins, or whole sections tanks, one port the other starboard which were connected
of the ship, mounted on gimbals. In 1906 a German by a water duct at their base, in some congurations
torpedo boat was tted with a large gyroscope to try and a second connection is made between the top of the tanks
reduce roll motion. A more serious solution involved to permit control of the air ow between them. This
moving a large mass transversely to achieve the required conguration of is know as Utank system (from its shape)
restoring moment. This system was not very successful or and it solves many of the problems of Watts simple free
popular. It required considerable power and had a slow surface tank. More recently U-tanks have evolved further
and the connecting duct at the base of the tanks permitting
Corresponding author. Tel.: +44 20 7679 3895; fax: +44 20 7388 0180. transfer of uid has been removed completely. Instead the
E-mail address: [email protected] (A.R. Greig). tanks are open to the sea. There is usually a duct at the top

0029-8018/$ - see front matter r 2006 Elsevier Ltd. All rights reserved.
doi:10.1016/j.oceaneng.2005.12.013
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104 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

Nomenclature mr, md mass of the liquid inside the reservoirs and the
duct respectively
Ar, Ad cross-sectional area of the reservoirs and the ms mass of the structure
duct, respectively m0 total mass of the structure and tank together
aij generalized added mass or inertia coefcient; P instantaneous air pressure in the upper part of
ith force or moment due to jth unit acceleration the reservoirs
ait ith force or moment due to unit tank angle Pf pressure loss in a pipe
acceleration Q non-potential force term in the Lagrange
ati tank moment due to ith unit acceleration equation
att tank added mass coefcient ith S stabilizing moment
bij generalized damping coefcient; ith force or t time
moment due to jth unit velocity Tw moment induced by the waves
bit ith force or moment due to unit tank angle T kinematic energy
velocity U potential energy
bti tank moment due to ith unit velocity V mass velocity of uid
btt tank damping coefcient W ship displacement
cij generalized stiffness coefcient; ith force or z displacement of uid surface from tank equili-
moment due to jth unit displacement brium position
c4t roll moment applied by tank due to unit roll zd horizontal displacement of uid in the tank duct
displacement a actual position of the pump blade
ct4 tank moment due to unit roll displacement a0 maximum wave slope
ctt tank moment due to unit tank angle ac required position of the pump blade (control
d diameter of the pipe signal)
de effective diameter of a non-circular pipe g specic heat ratio
Fi ith force or moment required to sustain general m free surface coefcient factor or viscosity of the
oscillation uid
f friction factor t tank angle
GM metacentric height v kinematic viscosity of the uid (1.2  106 m2/s
g acceleration due to gravity (E9.81 m/s2) for water)
h distance of the tank above the rolling centre o frequency of the encountered wave
I44 ships longitude mass moment of inertia ot, os roll natural frequency of the tank and ship,
k1 tank viscous damping coefcient respectively
k2 tank quadratic damping coefcient x1 ; x_ 1 ; x 1 surge, surge velocity and surge acceleration
ks constant relating the roll velocity to the x2 ; x_ 2 ; x 2 sway, sway velocity and sway acceleration
stabilizing moment x3 ; x_ 3 ; x 3 heave, heave velocity and heave acceleration
k, K damping coefcient of the tank and ship, x4 ; x_ 4 ; x 4 roll, roll velocity and roll acceleration
respectively x5 ; x_ 5 ; x 5 pitch, pitch velocity and pitch acceleration
L lever arm of the tank x6 ; x_ 6 ; x 6 yaw, yaw velocity and yaw acceleration

of the tanks to permit transfer of air. This conguration is tion damping of tall buildings due to wind induced
usually called free-ooding tanks but because of the vibrations (e.g. John Hancock Building Boston has tuned
possible control of the air pressure the tanks are not truly mass dampers and the Nagasaki airport control tower has
free-ooding. An alternative which relates to their shape a tuned liquid column damper) and earthquakes (many
and is consistent with the previous type of tanks is n-tanks. Tokyo and Kobe tower blocks) as well as offshore oating
As will be shown free-ooding tanks are particularly suited structures and even some satellite vibrations. A good
for multi-hull craft. In their paper, Sellers and Martin review on the application of liquid dampers is provided by
(1992) have described the selection and evaluation Yalla (2001).
procedure of different roll stabilizing systems with An alterative strategy to moving the centre of gravity of
emphasis on practical aspects. They have suggested that the ship transversely to create a restoring moment is to
anti-roll tanks can be employed not only in roll stabiliza- apply a restoring force directly. With the possible exception
tion but also in operations requiring reduction of roll of air cushion vehicles the power required to do this
acceleration by increasing the roll period. Application of directly with jets of water or air would be excessive.
moving masses and tanks is not restricted to ship Another approach is to use the lift generated by a
stabilization. They have been successfully used for vibra- hydrofoil. The restoring force is generated by the passage
 ARTICLE IN PRESS
R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 105

of the foil through the water and only minimal power is thereon, Watt and Froude described in detail the mechan-
required to vary the angle of attack. The rate of response is ism by which a roll damping moment is created by the wave
very high as the n angle can be changed rapidly. There is a action of a uid in a rectangular tank placed aboard a ship.
signicant resistance penalty. Even a good n system can The shifting mass of the uid as it ows backwards and
only achieve a lift to drag ratio of little more than 4:1 and forwards across the tank exerts a roll moment on the ship
unless the ns are retractable (with the cost and complica- and, by suitable design, this can be arranged to damp the
tion associated with this) they are always going to provide rolling motion.
drag even when not in use. As drag is proportional to speed Watts suggested that the way in which an anti-roll tank
squared this is a particular issue for high speed vessels. As operates in this respect would be readily understood by
stabilizer ns are external to the hull they are vulnerable. regarding the water as doing the reverse to what is done by
Their size is usually compromised by vulnerability con- men in the process of rolling a ship in still water. In the
siderations and they are usually shorter than ideal. Short Eighteen and Nineteenth centuries it was common practice
ns are less effective as a greater proportion of their span is for a team of men to run from side to side to test the
submerged in the hulls boundary layer. Because n stability of a ship. Watts description is reproduced below:
stabilizers rely on forward motion to produce lift they are
less effective at slow speeds and below about ve or six The men are timed to run from side to side in advance
knots virtually useless and it is recognized that alternative of the roll, and their weight tends to increase the heel;
stabilization systems are required such as tanks (Parker, whereas the chamber, which is arranged to keep time
1965). By comparison tank-based systems are most with the ship, necessarily lags behind the roll, as the
effective at lower speeds, even when stopped, decreasing chamber must become inclined before the water has any
gradually as speed increases. tendency to run across by its own weight, and therefore
No stabilizing system, tank or n, can be effective tends to diminish the heel. Imagine the ship is at rest and
without a good control system and the two must be the men are at the middle of the port and the starboard.
considered together. It will be seen that during the Now, if the men were moved instantaneously from the
development of tank stabilizing system the weak link in middle line to the port end, the ship would start rolling
most systems was the control system. While the ideas of the by harmonic motion, and if at the instant she arrives at
19th and early to mid 20th centuries were sound the the extreme inclination the men were again instanta-
technology to implement them was not available, only now neously shifted to the starboard end the return roll
with advanced control theory and high speed computing would be more than the one reached at the port side,
power can the potential of some of these systems be and so on; the rolling angle would increase as the men
exploited. are moved to the other side successively. As, instead of
moving over instantaneously, the men require a denite
2. The development and types of tanks time in moving over, their motion must lead the rolling
motion in order to be most effective in increasing the
2.1. Free surface tank roll. The longer they can remain at the side at the end of
each run, the more effect will their weight have in rolling
This was the rst type of roll stabilizing tank to be the ship, but they must start from any side when the ship
developed and was based on the pioneering work heels towards that side, as so to cross the middle line
conducted by Sir Philip Watts, he read a paper at a when the heel is a maximum, i.e., they must run uphill.
meeting of RINA in 1883 with another paper 2 years later Now, if the ship were rolling from any cause, and it were
(Watts, 1883, 1885). He proposed a large, uniform cross- sought to bring her to rest by running men from side to
section tank partly lled with water, placed athwartships side, it is obvious that their motion must be the reverse
and usually located well above the centre of gravity, see of above, i.e., they must always be running downhill
Fig. 1. The principle was based on the work by Froude instead of uphill.
(1861) who was the rst to frame the effect of waves on the It will be obvious that the motion of the centre of
rolling motion of ships. In the papers and the discussion gravity of the water in the water chamber of a ship

(a) (b) (c) (d)

Fig. 1. Ideal motion of water in the tank (based on Watts, 1885). (a) t 0, maximum roll rate to starboard; maximum stabilizing moment to port. (b)
t p/2os, maximum roll to starboard; zero stabilizing moment. (c) t p/2os, maximum roll rate to port; maximum stabilizing moment to starboard. (d)
t 3p/2os, maximum roll to port; zero stabilizing moment.
 ARTICLE IN PRESS
106 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

rolling amongst waves, will tend to approximate to that changing the water depth, a feature not so readily achieved
of the men when running as described for the purpose of in U-tanks or n-tanks.
reducing rolling. Thus, if the shape of the water chamber More recent experimental work was done by Ikeda and
and the depth of the water are such that the centre of Yoshiyama (1991) in which the coupling effect on the
gravity of the water moves as described, the effect of the performance of a rectangular anti-rolling tank was
water chamber is to increase the righting force and cause investigated. The results of the bench test of an anti-rolling
the ship to move more slowly than she otherwise would, tank including the effect of sway motion as well as roll
so that she acquires less angular momentum on reaching motion demonstrated that the sway motion reduced the
the upright, and therefore tends to roll less deeply the reduction of the roll angle by the anti-rolling tank and
other way (Watts, 1885). (Fig. 1) lengthened the natural period of the tank. Bass (1998)
conducted full-scale sea trials of free-surface tanks in which
three sister vessels took part: the Newfoundland Tradition,
In 1882 Watts and Froude examined this theory with a the Newfoundland Explorer, and the Newfoundland Mar-
full-scale trial and excited HMS inflexible by moving men. iner. Results showed up to 82% roll reduction in light wave
They managed to roll the ship by 121. The motion of the conditions. The penalties identied were the volume
ship was recorded with a variety of water depths. It was occupied by the tanks and the reduction of stability due
observed that the roll damping was most effective when the to the free-surface effect, a particular concern when a tank
tank was about half full, which made the natural period of is to be retrotted to an existing ship.
the water the same as the natural period of the ship and It was observed that the performance of free-surface
reduced the roll by 37.5%. They realized that the water in tanks is maximized when the natural frequency of the tank
the tank did not travel athwartships quickly enough as the is tuned to be close to the roll natural frequency of the ship.
ship rolled; they suggested that the efciency of the tank This is mainly done by altering the water level inside the
would be improved if changes were made to enable the tank. This conrmed the ndings of Watts and Froude
water to get across the ship more quickly. They also from a century earlier. Different responses of tanks can be
noticed that beyond 41 heel the rolling resistant force of the obtained by changing their shapes, two modications of
tank reached its maximum and remained the same, the such tanks are presented in Fig. 2.
phenomenon known as saturation in the modern control. One disadvantage of rectangular tanks is that it is
Although the tank acted satisfactorily, interest died away difcult to control the water, rushing freely from side to
in the years that followed and the works of Watts seems to side in the tank, threatening the safety of the ship in rough
have been nearly forgotten. It is not clear from the weather. Sometimes a limited control is exerted over the
literature why such tanks fell into disuse, although the motion of the uid by installing a restriction or bafe in the
inefcient steam engines and boilers of the day may have centre of the tank. Lee and Vassalos (1996) experimentally
been contributory factors, since large quantities of coal showed that the performance characteristics of an anti-roll
were required and all available space was used to carry it. tank could be tailor-made by a judicious application of
Noise generated in the tank may also have been a factor. ow obstructions. The bafes they used in their rectangular
Free surface passive tanks have not been abandoned and in tank together with the roll amplitude response of the ship
1998 one was retrotted to the MV Searoad Tamar in are presented in Fig. 3 and 4. It is clear from the gures
Australia. The tank was 23  7  5 m and extended across that the undesirable effect of roll increase at frequencies
the full beam so while it had a signicant impact on the lower than the natural frequency has been eliminated.
ships upper deck it drastically reduced the roll motion. An About the same time, Francescutto et al. (1996) also
unexpected bonus was an 8% reduction in fuel consump- described the effect of bafed anti-roll tanks and showed
tion due to improved course keeping and drag reduction similar results to Lees. They developed a mathematical
(Dummett, 1998). model of the partially lled tank based on Reynolds
In 1966, Bosch and Vugts (1966) (Vugts, 1968) experi- averaged NavierStokes equations. Numerical simulations
mentally investigated the concept of rectangular tanks for a bafed and unbafed rectangular tank were validated
using a model with certain simplifying assumptions; the with experimental tests and showed good agreement. The
motion was considered periodic and the magnitude of the main conclusions derived were that for an unbafed
motion created by the moving water mass, the inuence of
tank parameters on the amplitude and phase of the
moment was examined. They calculated the effect of four
different tanks on a cargo-liner of Straat H-class of the
Royal Interocean Lines in irregular waves. The tanks
ranged between 0.5% and 1.1% of water displacement and
theoretically introduced up to 80% roll reduction in
periodic waves and up to 50% in irregular waves. They (a) (b)
stated that an advantage of rectangular tanks is that they Fig. 2. Plan view of modied tanks: (a) C-shape tank and (b) rectangular
can easily be adapted to another condition of loading by tank with bafes.
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R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 107

water in the tank, the tank geometry and its own position
in the ship. The roll reduction depends solely on the level of
the water inside the tank. In the case of a bafed tank, the
two natural resonance peaks are not as sharp as the
unbafed case and the response tends to get smoother as
the water height increases compared to the bafe height.
The bafes generate large amplitude travelling waves, and
dissipate energy by generating vortices in the water. The
bafed tank acts as a strong damper and results in almost
50% roll reduction.
Based on the same concept, Birmingham et al. (2002)
designed a passive-controlled tank using moving obstruc-
tions. The preliminary design of the valve mechanism was
based on an array of four inter-connected buttery valves,
to be actuated in tandem and with operating angles
between 01 and 901. They suggested, but did not imple-
ment, articial intelligence to control the valves, so the
system would be able to function to maximum effectiveness
at all times, despite changing loading and operating
conditions and sea states. Simulation results were con-
rmed using a model excited by regular waves, they
matched with Lee and Vassaloss results.
Recently studies have tried to perform numerical
simulations of the complicated 3D motion of water in
tanks together with the sloshing at the free surface, both
for simple open tanks and U-tanks. A specic numerical
study using a 2D nite element method for U-tube passive
anti-rolling tanks was done by Zhong et al. (1998) and
Popov et al. (1993) who reported numerical analysis of
sloshing in a road container with a MAC type method for
Fig. 3. Congurations of bafes tested (from Lee and Vassalos, 1996). tracing the free surface evolution. Many papers have
reported on the sloshing phenomenon in a rigid rectangular
tank and theoretical and experimental research has been
4 carried out by means of the shallow water wave theory
(Verhagen and Van Wijngaarden, 1965; Sun and Fujino,
Roll RAO (roll amplitude/wave slope)

1994; Armenio and La Rocca, 1996; Modi and Seto, 1997;

Unstabilised
3 Chern et al., 1999; Ikeda and Nakagawa, 1997; boundary
element methods by Liu and Huang, 1994; nite element
1 methods, VOF method by Celebi and Akyildiz, 2002.
3 Extensive comparative studies on sloshing loads has been
2
made by Cariou and Casella, 1999 and Sames et al., 2002.
6
Most of the methods reported were based upon nite
5
difference, nite volume approaches or even shallow water
1 equation solvers (Souto Iglesias et al., 2004).
4
2 Another interesting solution was proposed by Souto
Iglesias and Gonzalez (2001) and Souto Iglesias et al.
(2001, 2004). They simulated the motion of water using the
0.02 0.04 0.06 0.08 0.10 0.12 0.14 0.16 smoothed particle hydrodynamics method where the uid
Frequency (Hz) _ full scale is represented by a set of particles which follow the uid
Fig. 4. Estimated RAO of the vessel, GM 2 m, g 0.15, a 2.51 (from motion and have the uid quantities such as mass and
Lee and Vassalos, 1996). momentum. Associated with each particle are its position,
velocity, and mass. They validated their method by
performing experiments on different kind of free-surface
rectangular tank, the ship becomes a lightly damped two tanks such as rectangular tanks with and without bafes
degree-of-freedom system in which two different natural and on a C-tank, see Fig. 2a, and showed very good
frequencies appear (see curve 2, Fig. 4) the values of which agreement between the simulation and experimental
are strictly related to the characteristics and the level of the results.
 ARTICLE IN PRESS
108 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

2.2. U-tanks above the centre of gravity, but they are now moved away
from the centre of the ship. Subsequently Biles (1925) used
The simple free surface tank has three practical a model to further investigate Frahms tank and commen-
problems; two due to the sloshing of the large free surface ted that the tanks perform better if the ratio of the natural
and the third to its location. Sloshing makes it difcult to period of the tank to the natural period of the ship was 0.79
control the water and adversely affects stability while the than when it was approximately 1.0. The later being the
tanks required location, above the centre if gravity and optimal case for free surface tanks. He also realized that
near the centre of the ship, is prime usable space. These although there was considerable roll reduction at resonance
problems were solved simultaneously with the U-shaped frequency, the roll was increased at other frequencies. An
tank suggested by Frahm (1911). Two reservoirs were obvious method of controlling the uid ow is to insert
connected at the bottom by a water duct, and at the top by valves in the uid channel.
an air duct. In some later designs the air duct was removed Before World War II, Frahms passive tanks were
and the tanks vented to atmosphere. The water oscillation installed in over million tons of German shipping,
in each reservoir could be controlled by the air connections including the passenger liners Europa and Hamburg and
(Fig. 5). The air duct served rst of all to stop the met with moderate success. It was found that for ships with
movement of the water by simply blocking the connection. a small metacentric height operating in seas with a regular
Besides, the air passing through the upper connection wave pattern, good results were obtained with a roll
could be more or less throttled in order to adjust the reduction of approximately 50%. However, in choppy seas
oscillations of the water to the condition of the sea. Frahm with no regular pattern, the results were poor, frequently
tested a U-tank on two passenger steamers Ypiranga and with no observed roll reduction at all (Bennett, 1991).
Corcovado and gained signicant roll reduction by using A logical development of the Frahm system was to pump
tanks of 1.31.5% of the ships displacement. He also the water from one leg of the U to the other, rather than
commented that the best location to place the tanks is relying on the ships rolling motion exclusively for the

Fig. 5. Frahm tank on SS Ypiranga (from Vasta et al., 1961).

Fig. 6. Activated anti-roll tank (from Bell and Walker, 1966).

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R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 109

transfer. By doing so, a limitation of the passive tanks with Control

valve
their dependence on resonance could be largely overcome.
Such tanks are generally known as U-shape activated tanks
or simply active tanks. A system was evolved by Bell and Air
Channel
Walker (1966), which achieved more than the damping
effect of a passive-type tank and also did not involve
setting into motion a long column of uid. Fig. 6 shows the Fluid
Channel
arrangement of this system. It is seen that the impeller
which rotates continuously drives uid from the lower to
Fig. 7. Arrangement of air controlled passive tank (based on Bell and
the upper of the two ducts connecting the port and Walker, 1966).
starboard tanks. Fig. 6a shows the condition when no
signal is developed in the sensing unit. The control valves in valve required becomes impracticably large and would
the ducts are then maintained in the halfway position and require very considerable power to operate. An alternative
the uid circulates into and out of both tanks, the level in for control is immediately apparent, as seen in Fig. 7. The
each tank being the same. In Fig. 6b a signal has been tank system is arranged to be effectively sealed, although a
received due to the wave on the port side of the vessel small vent can be provided, and the port and starboard
causing a rolling acceleration, and the valves are operated, tanks connected by the uid channel below in the opposite
the exit from the port tank being closed while its entry is direction. If the control is now achieved by valves in the air
fully open, and conversely the exit from the starboard is channel, a considerable economy can be affected and,
fully open and the entry closed. The uid ows from one because air is compressible, there will be no harmful
tank to the other to counter the roll acceleration due to the hammer effects if a valve is closed rapidly. A secondary
forces of the sea. In Fig. 6c the signal is presumed to have effect of control by the air channel is that, since the air is
continued in spite of the opposing moment due to the tank compressible, the precision of the control will be reduced,
on the port side being lled, and saturation of the stabilizer but it has been found in practice that effective controlled
occurs. The impeller remains rotating at constant speed, passive stabilization can be achieved using this method.
maintaining the different uid level between the two tanks, Since 1999 a number articles have been published
but transferring no more uid. suggesting methods of improving the response of anti-roll
For an activated-tank stabilizer system to be successful it tanks (IMarEST. 1999ac, 2002). One of them is Flumes
must not require excessive power to operate the impeller or HEEL-AWAY List Control System, which utilizes an axial
the valves. Ample area must be provided in the ducts to ow pump driven by an internal hydraulic motor and is
keep the uid velocity low, and the tanks designed for a said to have a much faster reaction time than those which
minimum of head difference to give the stabilizing moment utilize centrifugal, constant speed, axial ow pumps. The
required. Depending upon the size of the vessel the head system is always running and available for immediate
may vary from 0.3 m up to about 2.5 m for large vessels. response to any correction requirements. In the second
The exact value is a compromise between the head of uid, article it is noted that using multiple passive stabilization
which must be as small as possible for minimum power, tanks provides better results than using a single massive
and the tank cross section which must also be small to limit tank. Intering of Germany, now owned by Rolls Royce,
the free-surface effect. Thus, for a given weight of uid produces U-tanks where the water level is controlled by air
required for stabilization, the smaller the head the smaller pressure. An interesting innovation is to replace water with
the power, but the larger the cross section required with the a denser uid which is claimed to reduce the required
corresponding loss of metacentric height. volume by more than 30%. They have also developed a
Another feature of the system is that, as may be seen in system for damping parametric roll, a particular problem
the gures, a central tank may be provided from which of Panamax container ships and cruise liners.
uid may ow on demand in the direction permitted by the
valves. This tends to act as a buffer against the varying load 2.3. Free-flooding tanks
on the impeller drive, smoothing the extremes of power but
at the expense of a larger and more complex system. Various modications of the original 1911 Frahm anti-
Another application of the activated tank system was rolling tank system have been developed and installed. In
installed on the World War II German cruiser, Prinz some installations, the horizontal leg of the U-tank was
Eugen. Here the rapid transfer of water from one tank to entirely removed and the bottoms of the tanks were opened
the other was accomplished by air pressure provided by a to the sea, Fig. 8. One of the few cases of installation of
turbine-driven blower. The quantity of water displaced was free-ooding tanks was in 1931 and 1932 when tanks were
governed by a small gyroscopic control mechanism. For retrotted to six USN cruisers of the Pensacola and
moderate-sized vessels, a valve system in the uid channel Northampton classes. The tanks had no air cross connec-
is quite a feasible piece of engineering but, as the size of the tion, despite initial misgivings the tanks were successful
vessel increases, and also in the case of bulk carries and oil reducing the roll motion by 3040% and increasing the roll
tankers where the metacentric height also increases, the period by 20%.
 ARTICLE IN PRESS
110 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

completely effectively switching off the system. A dis-

advantage of this system is that the tanks must be built and
regularly tested to withstand high air pressures.
AIR VALVE In 1988 two congurations of free-ooding tanks
(modied Slo-Rol tanks and tuned free-ooding) were
analysed and model tested by Webster et al. (1988) for
retrotting to the aircraft carrier, USS Midway. Both
demonstrated that a signicant reduction in roll could be
achieved but both system were compromised by having to
be tted into the existing and restricted volumes.
The effectiveness of the free-ooding tanks falls off as
the ship speed increases, because at higher speeds, water
cannot get into the ooding port. The main advantage of
Fig. 8. Frahm tank with horizontal leg removed as tted on the free-ooding tanks is that they do not need a water
Deutschland (After Vasta et al., 1961). crossover duct, and therefore do not require major
modications of the ship when installation is contemplated
in an existing ship. Free-ooding tanks use seawater as
working uid and this can have considerable impact on the
design in terms of corrosion, fouling and maintenance.
They also require large ooding port in the side of the ship
to allow the seawater to enter and leave the tanks. These
ooding ports do not have a signicant drag in calm water.
However, as a result of water owing into and out of the
tanks when the ship is underway, a more signicant
momentum drag can ensue. At high speeds they can either
be drained to reduce displacement or pressed full, the
openings will still provide a small drag penalty. The
entrance and exit ows at the ooding port are complex
Fig. 9. Denny model tank (From Bell and Walker, 1966). and difcult to model. In general free-ooding tanks are
more difcult to analyse as the waters motion can no
longer be approximated to a 2D case and more complex 3D
In 1958 a more advanced version of free-ooding tanks solutions are required. Although free-ooding tanks have
were tested on a model in the Denny Model Ship Tank at been demonstrated as successful, there has been a perceived
Stevens Institute of Technology (Fig. 9). It bears some reluctance of ship owners and shipbuilders to a system that
resemblance to one of the types of Frahm tanks but the opened the ship to sea water and alternative systems were
operation is entirely different. Two tanks are provided, one sought for the commercial market.
on either side of the vessel and each is open to the sea, but
there is no cross connection to permit direct transfer of 3. Modelling the tank-ship system
water between the two. There is a pipe connecting the tops
of the tanks but this is for the supply of low pressure air. If The roll motion of the ship was rst formulated by
the ship rolls and the valve in the interconnecting air Froude (1861):
channel is left open, the tank on the lower side will ll with
water. At the end of the roll, the valve is closed, this traps I 44 x 4 k1 x_ 4 k2 x_ 24 W GMx4 W GMa0 sin ot (1)
the water in the tank and it is then lifted during the next where GM is the metacentric height, I44 the ship long-
half roll, at the end of which the valve is opened briey. itudinal mass moment of inertia, k1 the tank viscous
During this interval water is discharged from one tank and damping coefcient, k2 the tank quadratic damping
enters the other. The full tank is now in the lower position, coefcient, t the time, o the frequency of the encountered
and damping of the motion of the vessel occurs as each waves, W ship displacement, and x4 ; x_ 4 ; x 4 are roll, roll
tank is in turn raised full of water. Results showed that this velocity, and roll acceleration, respectively, a0 is the
system could reduce roll by about 60% (Vasta et al., 1961). maximum wave slope; wave slope is obtained by differ-
The Slo-Rol system developed by Dr. G. Bergman of entiating the equations of wave height, and B0 is maximum
SeaTek International Inc. uses a similar principle but it wave height (since a0 kB0 where k is wave number).
relies on compressed air for control of the water levels, He considered the effect of the tank by addition of a new
there are no valves at the base of the tank. It was designed term S, the stabilizing moment, into (1):
for and has been installed on various stationary drilling rigs
and vessels used in the oil industry. The tank tops are I 44 x 4 k1 x_ 4 k2 x_ 24 W GMx4 S W GMa0 sin ot.
below the water line so that by venting the tanks they ood (2)
 ARTICLE IN PRESS
R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 111

However, he did not formulate the motion of the uid make it non-linear. This is a justiable simplication as
inside the tank. k2  k1 and it is now generally agreed that the roll motion
Goodrich (1969), represented the combined motion of a of the ship is to a great degree of accuracy linear and no
ship with a tank stabilizer by two linear differential non-linear terms appear in the derivation of the equation of
equations (t is the tank angle and dened in Fig. 10): motion (Lloyd, 1989; Lee and Vassalos, 1996).
Solving the equations yields that amplication Ao and
o2t h
Tank : t k_t o2t t o2t x4  x 4 , (3) phase angle fo :
g
o2s
Ao p , (5)
Ship : x 4 K x_ 4 o2s x4  mo2s t o2s a0 cos ot, (4) X2 Y2
where k, K are the damping coefcient of the tank and ship,
Y
respectively, ot ; os the roll natural frequency of the tank fo tan1 ,
X
and ship, respectively, h the distance of the tank above the
rolling centre, and m the free surface coefcient factor. where
Comparing Eq. (4) with (2) it can be seen that   
  mo2t o2s 1 h0 o2 =g o2t  o2
S mo2s t=I 44 , which means that the stabilizing moment X o2s o2
  2 2 ,
is proportional to the tank angle. The only difference is ot  o2 k2 o2
that Eq. (4) does not contain the term k2 x_ 24 which would "  #
mko2t o2s 1 h0 o2 =g
Compressed
Y o K  2 .
air
o2t  o2 k2 o2
Goodrich then investigated the variation of tank
damping, natural frequency, size and position on the
p0 amplitude and phase of the ship response theoretically and
wr experimentally and realized the undesirable increase of roll
z h angle at frequencies lower than the natural frequency, an
 example is shown in Fig. 11. This effect is even more
hr
pronounced if the natural frequency of the tank is not
w tuned to the natural frequency of the ship as demonstrated
zd in Fig. 12. If the free surface coefcient m is set to zero the
tank is effectively removed from the ship as in case zero.
Fig. 10. U-tank and its geometric parameters (based on Shyu and Kuo, Stigter (1966) developed a theory for passive U-tanks
1996). using Eulers equation. A simplied version suggested by

Amplification Factor
12
10 s = 3.0 0 ( = 0 no tank)
t = 3.0
8  = 3.0
K = 3.0
6 s = 3.0
4 (k=2)
4 3 (k=1.5)
2 (k=1)
1 (k=0.5)
2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

Phase Angle
0
0
-50 4
1
degrees

-100 3
2

-150

-200
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
w (Rad/s)

Fig. 11. Effect of variation of tank damping with ot os (based on Goodrich, 1969).
 ARTICLE IN PRESS
112 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

Amplification Factor
12
10 s = 3.0
0 ( = 0 no tank)
t = 3.5
1 (k=0.5)
8  = 0.2
K = 0.3
s=0
6
4 (k=3)
4 3 (k=2)
2 (k=1)
2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

Phase Angle
0
0
-50 4
1
degrees

-100 3

2
-150

-200
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
w (Rad/s)

Fig. 12. Effect of variation of tank damping with ot4os (Based on Goodrich, 1969).

Lloyd (1989) concludes that the equations of motions are: of the reservoirs and the duct, respectively, z is the
displacement of uid surface from tank equilibrium
Tank :
position, and zd is horizontal displacement of uid in the
at2 x 2 at4 x 4 ct4 x4 at6 x 6 att t btt t_ ctt t 0, 6 tank duct.
Due to the movement of the liquid body from its
Roll : equilibrium position, the potential energy of the reservoirs
a42 x 2 b42 x_ 2 I 44 a44 x 4 b44 x_ 4 c44 x4 is
a46 x 6 b46 x_ 6 c46 x6  a4t t c4t t F 4 ,  

gAr P
U rgAr z2 , (8)
Sway : h
m a22 x 2 b22 x_ 2 a24 x 4 b24 x_ 4 where P is instantaneous air pressure in the upper part of
a26 x 6 b26 x_ 6 c26 x6 a2t t F 2 , the reservoirs and g is specic heat ratio (gE1.4 for air).
From the continuity equation of the uid is follows that
Yaw : Ar
zd z.
a62 x 2 b62 x_ 2 a64 x 4 b64 x_ 4 I 66 a66 x 6 Ad
b66 x_ 6 c66 x6 a6t t F 6 , Therefore the overall kinematic energy of the uid inside
where x2, x_ 2 , x 2 are the sway, sway velocity and sway the tank is
acceleration, x4, x_ 4 , x 4 the roll, roll velocity and roll (  2 )
acceleration, and x6, x_ 6 , x 6 the yaw, yaw velocity and yaw 1 Ar
T r 2Ar hr Ad w z_2 . (9)
acceleration, respectively, aij, bij and cij are ship coefcients 2 Ad
and Fi are ith force or moment applied by the waves.
Based on the energy method
A simple mathematical model of U-tanks was developed
by Kagawa et al. (1989, 1990) using an energy method. In T max U max . (10)
this case the tank was designed to damp the horizontal
Assuming the uid response, z, is in the form of z0 sin ot
vibration of skyscrapers during earthquakes. The kinetic
and by substituting Eqs. (8) and (9) into Eq. (10) the
energy of the liquid inside the U-tank (Fig. 10) is as
natural frequency of the tank is obtained as
follows:
    v
u
T 2 12mr z_2 12md z_2d 2 12rAr hr _z2 12rAd w_zd , (7)   u 2g 
u2g P=h
2g 2g=r P=h 1 t r
where mr, md are the mass of the liquid inside the reservoirs o2   !f , (11)
and the duct, respectively, Ar, Ad are the cross-section area 2hr Ar =Ad w 2p Le
 ARTICLE IN PRESS
R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 113

where Le is the effective length of tank being equal to The equation of motion of the liquid inside the U-tube tank
2hr Ar =Ad w. becomes
Seven years later Shyu and Kuo (1996) used the "  2 #
Lagrange method to develop Kagawas results to derive Ar
2rhr Ar rwAd z
the dynamic equation of motion for the uid inside U-type Ad
tanks. Again this was to damp the sway motion of  
Ar
structures in earthquakes, but the method could be 16pmhr 8pmLe z_ 2rgAr z
Ad
extended to roll motion in ships. The derivation of the nh  zig h  z ig o
equations is based on the following assumptions: P0 Ar 1   1
h h
1. The liquid is incompressible. rwAr x 2 0. 19
2. The air in the air chamber is assumed to be an ideal gas. If the liquid movement inside the tank is small compared
3. The velocity of the uid remains constant along the to h, say z/ho0.25, then
reservoirs and along the duct. h  z ig h  z ig gz
4. No breaking waves occur in the liquid surface. 1  1 2 (20)
h h h
Based on Fig. 10 the kinetic energy of the liquid inside and Eq. (19) can be simplied as follows:
the U-tank can be shown to be as follows: "    # "  #
   16pu 1=Ar 8puLe 1=Ad 2g 2gP0 =rh
z   z_   z
T 2 12rAr hr z_2 x_ 22 12rAd wz_d x_ 2 2 . (12) 2hr w Ar =Ad 2hr w Ar =Ad
" #
Due to the movement of the liquid from its equilibrium
w
position, the potential energy of the reservoirs is   x 2 0. 21
z 2hr w Ar =Ad
U mgDh 2rAr zg rgAr z2 (13)
2 Therefore the sway equation of the structure becomes;
From the continuty : Ar z_ Ad z_d (14) ms ms 2 1
x 2 2 os zs x_ 2 o x2 rAd z
Assuming that the liquid ow is fully developed and m0 m0 s m0
   2
laminar and approximating the duct to a pipe of circular 1 Ar 1 Ar
8pmLe z_  rAd z_jz_j
cross section of diameter d, then the pressure drop over a m0 Ad m0 Ad
length L, is given by Poiseulles equation, hence; 1
F excite , 22
mLu m0
DP 32 , (15)
d2 where os is the natural frequency of the structure, zs the
where u is the mean velocity of the uid and m its viscosity. damping ratio of the structure, ms the mass of the
According to the perfect gas law, pressure changes inside structure, and m0 the total mass of the structure and tank
the air chamber can be expressed as together.
The fth term on the left-hand side of (22) is the shearing
P0 V g0 P1 V 0  Ar zg p2 V 0  Ar zg . (16)
force of the liquid acting on the tank wall and the last term
P0 and V0 are the corresponding pressure and volume of is the force due to the change of the ow direction. Using
the air chambers when the liquid elevations in the simulation they derived the relation between the tank
reservoirs are in equilibrium. From Eq. (16) the pressure natural frequency and P, see Fig. 13. They also showed
differential between the two air chambers is that when the mass ratio of the tank to the structure is
nh  z ig h  zig o greater than 3%, there is no signicant improvement in
P1  P2 P0 1   1 . (17) efciency.
h h
The simplications made in this approach, although
The non-potential force term in the Lagrange equation
providing a better insight into the dynamics of the tank,
can be shown to be as follows:
  may not be fully justiable. The ow is assumed to be
Ar laminar and fully developed, for typical ow rates and
Q 16pmhr 8pmLe z_
Ad dimension the ow will be neither fully developed nor
nh  z ig h  zig o
laminar. A further simplication is that the duct is assumed
P0 Ar 1   1 , 18
h h to be straight with a length of 2hr w, no account is taken
Le being the equivalent length of the pipe. From the of the head loss or eddies at the bends.
Lagrange function, Eqs. (12) and (13), the non-potential Abdel Gawad et al. (2001) investigated the effect of tank
force equation, and using Lagrange method as mass and geometry on the on roll angle and tank angle and
  concluded that for U-tanks when the ratio of wr =w is small
d qT qT qF qU (in Fig. 10), the natural frequency of the tank can be tuned
 Q.
dt q_z qz q_z qz by changing the height of water in the reservoirs. The
 ARTICLE IN PRESS
114 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

18

16

Natural Frequncy of TLD (Hz)

14

12

10

6
1 2 3 4 5 6 7
Pressure (kgf/cm2)

Fig. 13. Natural frequency of tank versus pressure (after Shyu and Kuo, 1996).

Amp. = 0.01
Amp. = 0.007
Amp. = 0.005
20 Amp. = 0.003
Amp. = 0.0015
Backbone curve
Roll Angle in Degrees

15

10

0
1.2 1.3 1.4 1.5 1.6 1.7 1.8
Encounter Wave Frequency

Fig. 14. Roll response in the non-linear range (from Youssef et al., 2002).

research was further developed by Youssef et al. (2002) frequency at maximum amplitude to values higher than the
who investigated the performance of a S60-70 ship with a natural frequency. The curve connecting the peak ampli-
passive tank in various sea states with different encounter tudes is called the backbone curve. It is bent to the right,
wave directions, using Large Amplitude Motion Program indicating that the non-linearity is of the hardening type.
(LAMP) code to solve the six-DOF equations of motion. They noted that passive anti-roll tanks tuned in the linear
The unstabilized and stabilized roll motion of the ship with or non-linear ranges are very effective in reducing the roll
forward speed and beam waves was analysed. They noticed motion in the non-linear range. They also found that
that for high-amplitude waves, the unstabilized roll angle passive tanks are very effective in reducing the roll motion
exhibits typical non-linear phenomenon: a shift in the for ships having a pitch frequency that is nearly twice the
resonance frequency, multi-valued resonance, and jumps. roll frequency in sea states 5 and 6.
Fig. 14 shows the variation of the roll angle with the non-
dimensional encounter wave frequency. For small wave 4. Automatic control
amplitude the response is single-valued and linear. As the
wave amplitude increases, the inherent non-linearity of the Much of the early work done on roll stabilization
system bends the response curves to the right and shifts the concentrated on the stabilization devices rather than their
 ARTICLE IN PRESS
R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 115

control, and many of the early devices while attractive in Differentiating with respect to time
theory where not effective in practice due to the lack of
_ ax 4 .
W (26)
suitable control systems. Minorsky (1935) developed a
theory for activated tanks in about 1928 by using Froudes In which the control is performed on water rate
rolling theory as (2) according to the signal received from the roll acceler-
I 44 x 4 k1 x_ 4 k2 x_ 24 W GMx4 S W GMa0 sin ot. ometer. Each of these equations could be used as the
control law, as far as they satisfy condition (23). Thus,
He suggested that the stabilizing moment should be in the most important conclusion obtained by Minorsky
phase with roll velocity, x_ 4 . He concluded that, in all cases, was that:
regular as well as erratic rolling, control of the water mass If the stabilizing control is continuous and the torque
must be such as to full the condition: produced in this manner is in phase with angular velocity,
S ks x_ 4 , (23) the stabilizing action thus obtained is effective both for
regular and erratic rolling.
where ks is a constant relating the roll velocity to the
On the basis of the small-scale laboratory test results,
stabilizing moment.
full-scale installation of this system was made on the USN
For regular synchronous rolling (Fig. 15), the active
destroyer Hamilton. The system used a pump with
system merely increases the rate of transfer of the water of
controllable pitch impellor blades (Bennett, 1991). In still
the equivalent passive system but does not change
water trials, it was found that by activating the stabilizer,
appreciably the phase of the water (Figs. 15 and 16 are
USS Hamilton could be made to roll as much as 181 from
reproduced from the original paper because of their
the vertical. Minorskys theory and test indicated, however,
historical value). For irregular rolling the active system
that the stabilization had sufcient capacity to stabilize the
should force the phase of the water so as to approximate
destroyer in a seaway, which would produce a roll of 301.
condition (23) even in this case. This can readily be seen in
In actual operation, some very serious difculties were
Fig. 16.
experienced. Violent water hammer occurred in the blade
Different methods of control can be introduced to satisfy
shifting mechanism and the vibrations produced were
the above condition. Consider the active tank system,
picked up by the accelerometer. This had the effect of
where the lever arm, L, is xed and the weight W is varied.
destroying the phase relationship of the water transfer, thus
In the moving weight system, the weight is xed and the
preventing adequate stabilization. In the 1920s and 1930s
lever arm is changed by the controller. The righting
control theory was not sufciently advanced to compensate
moment can therefore be expressed as
for this instability problem.
S ks x_ 4 WL. (24) No doubt Minorskys condition (23) is true for a ship in
Therefore an obvious control law follows: calm seas with no wave disturbances at all, but, considering
a ship encountering different sea states, is this necessarily
W ax_ 4 , (25) always true for all wave frequencies? Or is this only a
where a ks =L. coincidence and correct for a certain frequency such as the

Fig. 15. Theoretical performance of active tank system (regular waves) (from Minorsky, 1935).
 ARTICLE IN PRESS
116 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

Fig. 16. Theoretical performance of active tank system (irregular waves) (from Minorsky, 1935).

natural frequency? A simple model of a 2500 t ship with a Twave 1

roll
+
20 m beam is used to investigate the validity of this theory.
A44 s + B44 s + C44
2
Fig. 17 shows the block diagram of the ship, it has a
natural frequency of 0.5 rad/s and damping ratio of 0.1.
Since the aim is to investigate the effect of the phase of the Stabilizing
moment
stabilizing moment on the roll reduction, the stabilizing
moment is considered to have been produced by any Fig. 17. Simple block diagram of a ship.
arbitrary source of moment, for example a mass (m 27 t)
moving athwartships causing a sine wave with an
amplitude of 2700 kNm. The ship is excited by waves of taking into account the frequency response of the ship. At
different frequencies from 0.1 to 1.0 rad/s and the righting natural frequency, the phase difference between the
moment is assumed to be either in phase with roll velocity, excitation and the roll velocity is 901; obviously the phase
or in phase with roll angle. The results of roll reductions difference between the roll and roll velocity for a sine wave
are summarized in Fig. 18 where negative numbers present is also 901; therefore if the righting moment is in phase with
roll increase. the roll velocity, it coincidently becomes in phase with the
It is evident that the roll has been reduced at some wave excitation. This denitely does not happen at other
frequencies if the stabilizing moment is in phase with roll frequencies, which is evident from the above results.
velocity and reduced at other frequencies if the stabilizing Therefore, if a control strategy is to be selected to control
moment is in phase with roll angle. At some frequencies the movement of the heavy weight or the motion of the
the tank increases the roll if the stabilizing moment is in water in a tank, it cannot simply follow the roll angle or
phase with roll velocity. one of its derivatives,
Considering Fig. 18 it becomes apparent that the phase Chadwick (1955) was the rst to raise the issue of
of the righting moment is independent of roll or roll modern automatic control in ship stabilization, using
velocity. This means that the stabilizing moment should transfer functions and block diagrams, Fig. 19. With
not be necessarily in phase or out phase with one particular feedback control the stabilizer is positioned in accordance
movement of the ship. Therefore the key factor for with the ship-motion signal only. That signal is chosen for
achieving the best stabilizing action becomes evident: primary control, which most perfectly complements the
The righting moment should be always in phase with the dynamic behaviour of the ship and stabilizer. His idea was
wave excitation. that in the case of active U-tanks, the pump-blade angle
This ensures that the resulting moment always acts in the should be controlled by roll acceleration. In the case of
opposite direction of the wave excitation, which naturally active ns, the n angle should be controlled by roll
leads to roll reduction. The reason that ship roll is reduced velocity. The diagrams are intended to emphasize the fact
if it is excited at its natural frequency and the stabilizing that even in the absence of a control signal the dynamics of
moment is in phase with roll velocity can be explained by ship and stabilizer may not be completely independent.
 ARTICLE IN PRESS
R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 117

60%

50%

40%

30%

Roll reduction
20%

10%
 (rad/s)
0%
0 0.2 0.4 0.6 0.8 1
-10% in phase with roll
-20% in phase with roll velocity

-30%

Fig. 18. Roll reductions at different excitation frequencies.

Ship Controller hopefully actual) situation. This strategy is generally

x4 known as active control and is effectively feedforward.
A D The transfer functions of the control systems, with
Tw + + + reference to Fig. 19, and neglecting the noise, are:
Waves - Noise
C x4
s No control passive stabilization : A, (27)
(a) Stabilizer Tw
Controller

x4 1
D Feedback control : A . (28)
Tw 1 ACD
A
x4 + +
Tw +
Noise x4
Waves - Feedforward control : A1  DC . (29)
C Tw
s
(b) Stabilizer Although the ship is usually described as a dynamic system
with six degrees-of-freedom, for simplicity, Chadwick
Fig. 19. Block diagrams for stabilized ship with: (a) feedback control; (b)
feedforward control (based on Chadwick, 1955). reasonably assumed the roll motion as a second order
equation coupled only with sway and yaw. As an example
he then applied the theory to the control of active ns.
Webster (1967) was probably the rst who discussed the
Thus, block A contains something of the stabilizer, and control systems of active anti-roll tanks with modern
block C contain something of the ship. control theory. For the purpose of analysis of the overall
With the feedforward method of control, the stabilizer system he used the non-dimensional equations of motion as
is positioned in accordance with the forcing function only, follows:
i.e. the incident wave. In 1955 the measurement of the
effective wave slope or other inputs presented a problem Sway :
and therefore limited the use of feedforward control. a1 x 2 a2 x_ 2 a3 x 4 a4 x_ 4 a5 x 6 a6 x_ 6 a7 t Y t, 30
Nowadays wave-height sensors are capable of measuring
the input with great accuracy. The principal advantage of Yaw :
feedforward over feedback is that it avoids the closed loop
b1 x 2 b2 x_ 2 b3 x 4 b4 x_ 4 b5 x 6 b6 x_ 6 b7 t_ Nt,
and hence the problem of self-excitation. But feedback
control has the advantage of being relatively independent
of variations in system parameters such as ship displace- Roll :
ment, GM, speed, etc. c1 x_ 2 c2 x 4 c3 x_ 4 c4 x4 c5 x34 c6 x 6 c7 t c8 t Kt,
Feedback control strategy is suitable only when the time
constant of the actuator is considerably less than the time Tank :
constant of the system to be controlled. Where this is not
d 1 x 2 d 2 x 4 d 3 x4 d 4 x 6 d 5 x_ 6 d 6 t d 7 t_ jt_ j d 8 t Pt,
the case it is necessary to predict the state of the system so
that the actuator motion can be initiated sufciently far in where Y(t), N(t) and K(t) are wave excitations and P(t) is
advance to allow it to respond to the predicted (and the required moment that has to be induced by the pump.
 ARTICLE IN PRESS
118 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

The equations are similar to Lloyds equations (6) with the phase lag in the servo for the pump blades, the signal
some slight differences: has to proceed through the tank dynamics before this
Contrary to Lloyds equations for sway and yaw, torque is available. Thus, at frequencies near the roll
Webster does not have terms proportional to x6. In the resonance one can anticipate a phase lag of approximately
case of roll, Webster lacks terms proportional to x 2 ; x_ 6 and 1801 between the pressure developed across the pump and
x6, and has an extra term proportional to x34 . The equation the resulting roll angle. It is necessary to use a signal, which
of the tank is also different and Webster has two extra anticipates the roll motion in order to cancel the inherent
terms proportional to x_ 6 and t_ jt_ j. Lloyds equations are the phase lag of the ship and tank dynamics. Roll acceleration
more widely used as they have no non-linear terms. feedback provides a phase lead of 1801 at all frequencies
It is presumed that the impellor blade will be continually and provides sufcient anticipation to overcome the phase
controlled by some servomechanism. Because of the inertia lag at roll resonance but this phase lead is not sufcient to
of the large blades, the linkage, etc. there will be a time lag prevent poor high frequency performance. Fortunately, as
between a the actual position of the pump blade, and ac, frequencies increase well past resonance, the ships
the required position of the pump blade (control signal). In response decays quickly. The control system will require,
addition there will be some maximum value of a limited by in addition to the roll acceleration, roll velocity and roll
physical dimensions and cavitation onset. Therefore the angle terms in order to improve the roll response below roll
servomechanism will be described as resonance. The overall conguration of Websters control
system is shown in Fig. 20. Additional closed loops
T p a_ a ac . (31) _ r, r_, t_ and t are
including the measurable quantities b, b,
The exciting waves are assumed to be unidirectional and also shown in this conguration. These loops are used in an
result from the linear superposition of elementary sinusoi- attempt to improve the performance of the roll information
dal waves of amplitude given by Neumann height spectrum feedback loop.
and of random phases with a uniform probability The signal actuating the impellor blade pitch is taken as:
distribution.
On a ship stabilized by means of anti-rolling tanks, the ac t afb t aff t, (33)
stabilizing moment is given as
where afb t g3 x 4 g2 x_ 4 g1 x4 e2 t e1 t_ .
St kst Z2st t00 t, (32)
aff t c2 x 2 c1 x_ 2 d 2 x 6 d 1 x_ 6 .
where kst and Zst are constant coefcients. Because Z2st is
usually less than 0.10 for most typical cases, the effect of The basic technique for choosing the nine control gains was
the tank water inertia is usually very small. The torque is a trial an error method, since the author believed that using
produced mainly by the instantaneous lateral location of Routh stability criterion or root-locus method would be
the centre of gravity of the tank water, reected in the term extremely complicated for such a system. The gains were
t of Eq. (32). Hence, the correcting force is not available selected to minimize the motions resulting from an
immediately after the actuation of the pump. In addition to impulsive velocity step. With the limited computer power

Pump
Tank feedback
controller

Blade p hs Tank
Feedback + f b c 1  - 1
p
Controller Tp s + 1 + s 2 + ks + t2
ff
-
+ -
Feedforward k st (st2 s + 1)
Controller c s c(U + Xt s ) st2 s 2 + 1

Akst s 2
x2 K0
x6 Y0
ship
x4 N0

Motion sensing Physical systems: Excitation

Data Processing Pumps, tank, ship due to
Control actuation And inter-coupling seaway

Fig. 20. Block diagram of control system (based on Webster, 1967).

 ARTICLE IN PRESS
R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121 119

available in 1967 this was true but now a variety of self- a similar ship equipped with a passive tank. The activated
tuning adaptive techniques are available. system was reasonably robust and showed low sensitivity
Roberts and Barboza (1988) proposed that a bang to the modelling error of the ship and the tank dynamics.
bang control strategy would provide the fastest transfer of An advantage of this approach is that the pump power is
water between the tanks. They used the following set of limited, hence preventing unrealistic power consumption
equations: and pumping rates.
Treakle (1998) and Treakle et al. (2000) approximated
Tank : t k_t o2t t  a4t x 4  c4t x4 f sway dp, (34)
the motion of the water in a U-tank by the motion of a
point mass that moves athwartships. The complete six-
Ship : x 4 K x_ 4 o2s x4  at4 t  ct4 t f roll , degrees-of-freedom non-linear coupled mathematical mod-
where dp is the pressure differential function used as the el of the ship is available in the reference and the control of
control input and froll, faway are roll and sway wave the moving mass is performed by a PD-controller where
disturbance, respectively. The detailed mathematical model there are limitations on the maximum position, speed and
and derivation of coefcients is available in Roberts and acceleration that the moving mass can posses. They
Barboza (1988). It is possible to represent the dynamic of developed a single degree-of-freedom non-linear simulator
the tank ship system with space state equations as (MOTSIM) to investigate the effect of different coefcients
in both passive and active tanks and compared their results
_ AX Bdpt CFt,
X (35) with the simulations using LAMP code. In all cases,
T
where X is the state matrix dened as x4 ; t; x_ 4 ; t_  and F(t) application of anti-roll tanks showed improvement in roll
is the disturbance matrix. Using the approach of Webster reduction of the ship.
and Dagon (1966), the optimal bangbang controller and
the control signal can be computed in accordance with 5. Conclusion
Lyapunov stability theorem. This process results in:
Roll is the least damped and has largest amplitude of all
dp dpmax signBT PX the unwanted motions of a ship. Maintaining motions
and P is determined from: within acceptable limits is crucial for the efcient operation
of crew and equipment. Roll can be actively controlled by
AT P PA Q,
applying a restoring force either directly, by use of ns for
where Q is positive denite and is selected so that XT QX example, or indirectly by altering the position of the centre
accounts for the kinetic and potential energy of the ships of gravity. For truly effective roll damping the machinery
roll system. These results in a control action which strives must be combined with an effective control system. This
to reduce the scalar quantity 0:5x24 0:5x_ 24 . This strategy has been clearly demonstrated through the history of roll
was simulated for a 76,000 t and a 14,500 t warship using damping devices where a number of good solutions have
U-tanks and showed much better performance compared failed because the control system and theory was not
with a passive tank. sufciently developed.
In another control strategy Chen et al. (1996, 2000) The earliest devices used moving masses or more
proposed a robust non-linear state feedback controller for commonly tanks of water. Tanks have developed from
the pumps which could handle model uncertainties which simple passive free surface tanks mounted on the centre
arise mostly from unknown hydrodynamic effects in the line to more sophisticated U-tanks and free-ooding tanks
ship model that was a non-linear, three degree-of-freedom with active control. A major disadvantage of early passive
model of the ship. In brief, the design of the controller was tanks was that the free surface reduced the metacentric
a Lyapunov-based approach using a combination of sliding height so that roll stability was reduced and the tanks
mode control and composite control for singularly amplied roll motion at low wave encounter frequencies. In
perturbed systems, with the help of the back stepping an attempt to overcome this and the slow response time of
technique. It was shown that this design can effectively tank systems, various ingenious systems were developed
control roll motions of large amplitude, including capsize but they were usually let down by the practical implemen-
prevention. tation of the control system. During the last 50 years n
Hsueh and Lee (1997) investigated an activated anti-roll stabilizers have gained prominence. Fins require minimal
tank system design for ship roll reduction and derived a internal volume compared to tanks, require only modest
control law based on optimal control. The goal of the power and also have a fast response. But they are external
control system was to optimize a cost function including to the vessel which imposes limits on their size, they are
terms for roll reduction and power consumption of the also vulnerable. The forward engine room of HMS
pumps. Different weights for each term ware tried and Nottingham was ooded due to the starboard stabilizer
optimal weights were selected. A 1174 t ship was simulated n being ripped off when she struck Wolf Rock in 2002
under different sea loads to determine the efciency of the (Groom, 2003). Compared to ns, and especially bilge
design. The performance of the system was examined in keels, tanks require more of the ships internal volume, but
different sea states and compared with the performance of this need not be in prime locations and they have the added
 ARTICLE IN PRESS
120 R. Moaleji, A.R. Greig / Ocean Engineering 34 (2007) 103121

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