Documente Academic
Documente Profesional
Documente Cultură
171-189
ABSTRACT
The types of ships that normally apply automatic list control systems are reviewed and the
reasons for the application are summarized. Various types of list control systems that are
commercially available are enumerated in detail and the differences between these systems
are explained. Design Considerations that couM define selection criteria are listed,
including some potential problem areas.
NOMENCLATURE
INTRODUCTION
LCS = list control system
HPU = hydraulic power unit
TDH = total dynamic head
B
= distance between list control tanks
Hp = port tank level
H s = starboard tank level
H A = head added by pump
H L = head loss due to friction
law = blower discharge head
A o = cross duct area
Pa = atmospheric pressure
pp = air pressure in port tank
p, = air pressure in starboard tank
PB = blower discharge pressure
Q~ = liquid volumetric flow
Qa = air volumetric flow
= list angle
V~ = t l u i d velocity
V, = air velocity
KI = fluid flow loss coefficient
I~ = air flow loss coefficient
"t~ = liquid specific gravity
y~ = air specific gravity
171
L I S T C O N T R O L SYSTEM A P P L I C A T I O N S
9
D E S C R I P T I O N , P R I N C I P A L C O M P O N E N T S AND
A P P L I C A B I L I T Y OF L I S T C O N T R O L SYSTEMS
172
RGOWEIGHT
MOVING A WEIGHT
~ A R G O WEIGHT
COUNTERBALANCING
WITH
LIST CONTROL TANKS
E F F E C T OF C A R G O L O A D I N G
FIGURE 1
Design Session
173
HEELING
TANK
(STBD)
HEELING
TANK
(PORT)
c
v~
v~
STANDBY (RECIRCULATION)
STANDBY (R ECIRGULATION)
HEEL TO STARBOARD
HEEL TO PORT
C O N T R O L USING A V A I L A B L E PUMPS
FIGURE 2
174
Design Session
175
~ c ~
coNr~c~c~e~r
EL~CmC~Ow~SU~'~VFOA
F ~
M~H ~ A ~
BALLAST TANK
r z ~ v I ~ v,,,0v*c
[ L e c ~ * ~ , c v ~ v ~ 2,v o c
STARBOARD
176
Design Session
C o m p r e s s e d Air System
A list control system using compressed air to move
water between tanks is shown in Figure 5 . Principal
components include;
an e,lectronic control unit. (1,2)
an air valve group with pneumatic controls, (4)
a forced draft blower, (5)
a tank level difference indicator, (6)
a high water level sensor, (7), and
a butterfly valve, (8)
The list control tanks and crossover pipe are similar
to other systems. Tank level indicators are not included,
however a tank level difference indication is provided.
An electric motor driven forced draft blower supplies
compressed air to the air-valve group. The valves are
controlled by the electronic control unit and can rapidly
pressurize one of the list control tanks and vent the other
to create a differential pressure that moves water between
the tanks. Flow rates of up to 110,000 GPM can be
achieved, which corresponds to the output of a 42 inch
diameter variable speed propeller pump at low discharge
heads..
Tank water level measurements are not accomplished
for this system.
However, the pressure difference
between tanl,:s is sensed and used to give water level
difference. Maximum water level sensors are provided to
stop operation if the water level is too high.
A butterfly valve is installed in the crossover pipe
between tanks. It is not controlled by the electronic
control unit and is open whenever the LCS is operated.
DESIGN CONSIDERATIONS
177
the boom of the crane and the lifting gear, the total
transverse moment can be as high as 6,000 ft. tons,
relatively high for a small ship. The slewing rate of the
crane will determine the correction rate. (In many cases,
this rate must be considered in line with practical limits
on the speed of the movement of a pendant weight.) A
practical rate would be in the range of 6,000 ft. tons/
minute, allowing the maximum cargo movement to be
completed within one minute.
The list control systems on the SEALIFT ships for
the U.S. Military Sealift Cotnmand were sized to meet the
highest of two requirements:
moving an M1A1 tank athwart ship from shell to
shell in 1.5 minutes.
moving a side-loading warping tug by crane from the
center line to 25 ft. outboard within 2.5 minutes.
Generally, the tug is controlling, due to the weight of
the crane boom and lifting gear, and results in a moment
of about 10,300 ft. tons and a rate of 4,120 ft.
tons/minute
To properly counteract these transverse moments, the
list control system will have to transfer ballast between
the designated heeling tanks. Size selection depends on
two interrelated main factors: the transverse moment that
can be developed and the time required to transfer the
ballast.
The maximum heeling moment generally can be
developed by the tanks if they are half full and the entire
contents of one tank is transferred to the other. Selecting
long, narrow tanks directly inboard of the shell will
maximize the distance between the transverse centers of
the tanks and minimize required capacity. Considering
the SEALIFT example given above, if the distance
between tank centers on these PANAMAX ships is about
100 feet, the required capacity of each tank is a minimum
of 206 tons (half capacity, 103 tons, will provide the
required moment of 10,300 foot tons when moved the 100
ft. distance between centers). The pump must be capable
of moving 41.2 tons/minute (4120/100) or about 10,800
GPM. If the tanks were wider, with the distance between
the transverse centers decreased correspondingly, the
capacity of the tanks and the pump would increase in
proportion.
The selection of the size of the cross-over connection
between the heeling tanks is made on the same flow
velocity basis as any pipeline. However, there may be
some additional consideration to minimize losses in the
connecting piping if an axial flow pump is selected, as the
power requirements for this pump type are very sensitive
to the total design head.
178
Hydraulic Performance
List control system hydraulic operating conditions are
complex when variable speed/pitch pumps are applied..
At the start of loading, the ship is on an even keel and the
list control tanks are equalized. Considering a RO/RO
cargo liner with a variable speed propeller pump as an
example, loading starts on one side of the ship and the
LCS automatically transfers water to the opposite side to
minimize list. This can continue until all the water has
been transferred to one side. During this phase of the
operation, the pump is moving water against an increasing
discharge head and RPM is increasing to maintain
required flow.
The second phase of loading then starts on the
opposite side. The pump is reversed and water is
transferred from the tank with a high level to the low
level tank. In this case, there is an initial gravity flow
that acts in combination with the pump. In some cases
the control system may be required to reverse the pump
direction to retard the gravity flow to obtain a controlled
flow and prevent over correction of the list angle. The
second phase can continue until the tank levels equalize
and gravity flow is no longer present. After this the
hydraulics are similar to the first phase. These operating
cycles may be repeated numerous times during loading or
unloading operations, depending on the size of the ship
and the heeling tanks and the loading pattern.
The hydraulic design of the system requires definition
of a four quadrant set of pump head flow curves for use
in designing the control system. The sign convention
used in this paper is flow and RPM to starboard are
positive. Positive head is defined as the difference
between port and starboard tank levels (corresponding to
a positive gravity flow). Accordingly, starboard (positive)
pump flow corresponds to negative head and port
(negative) pump flow corresponds to positive head.
A set of four quadrant head flow curves developed
from shipboard tests is shown in Figure 6. In the first
quadrant head and flow are positive and the data represent
combined gravity and pump flow to starboard. The
second quadrant with positive flow and negative head is
due to the pump only. The third quadrant has negative
flow and head and corresponds to a combination of pump
and gravity flow to port. The fourth quadrant has positive
head with negative flow and represents pumping to port
without gravity flow.
In addition to developing the pump design and
determining power requirements, tank vents must be
designed for the high flows required by the system. The
internal structure must have sufficient flow openings to
allow internal air and water flow. For example,
Design Session
LIST C O N T R O L SYSTEM
P U M P CURVES
20
30 INCH DIAMETER
PUMP
. 9149
10
X l ,"
,"
_~
r =
/
/v
iiI ~
II ,/
~
/'
~11".~
"':;
oe
:c;MpM
,-
~!r
-10
._.,, ...~
/
~'"
,9
( - -III
9
,'~
300 RPM
4C~ RPM
5C~ RPM
-20
-30000
-20000
-10000
10000
20000
30000
F L O W (GPM)
GRAVITYFLOWTESTSAT 0 RPM
GRAVITYFLOWTESTS
20
20
18
18
16
16
14 - ~
~ow TO ~ARSO~O
~LCU~CN, K2 . 7
r,
j !.-~-
z
8
,p
i_a_,
l&O0
6000
8~00
,j
,~000
28000
GRAVITY FLOW{GPM}
GRAVITY F L O W TESTS
FIGURE 8
G R A V I T Y F L O W TESTS
FIGURE 7
179
(4)
(2)
(3)
Gravity Flow
In cases of water transfer from a tank with a high
water level to the low level tank, a gravity flow can act in
combination with the pump or blower. For automatic
control, this will provide a high flow rate and reduce the
time required to correct a list. For manual control
programmed to maintain a constant flow rate, the pump
may have to be reversed to slow down flow until the
180
Design Session
(5)
(7)
Pp = PB - % *(1 +Kap)V~2/2g
For air flow out of the starboard tank;
'}
(8)
Ps = Pa -F % (1 +K.p)Va'/2g
(9)
Design of List Control Tank Vents
[ 1 -(%/pa)(Va2/2g)(1 + Nap)]
The blower total differential pressure
expressing this in feet of salt water, hw:
hw = TD.H + (I~/3~)*[X~
is PB-P. and
+ X~ 1
(10)
[1 - Xp ]
where;
Xp = ( %/p,)(Vf/2g)(1 + l~p)
Xs = ( %/Pa)(Vf/2g)( l + K.~)
The blower air horsepower ( for salt water) is defined as;
A H P = hw Q~/516.91
And since Qt =Q~
AHP = W H P + (Pa/3't )(Xp + ;~) ( Q / 516.91);
(1-Xp)
(11)
Power Requirements
The basic system power required is the water
horsepower (WHP), which is defined for salt water as;
WHP
GPM
TDH
For systems using
shaft horsepower is;
where:
where:
=
=
=
a
GPM*TDH/3848
(12)
ballast water flow
total dynamic head (ft)
propeller pump, the required
SHP = WHP/ep
ep = propeller efficiency
SHP = A H P / %
(14)
% = blower efficiency
AHP = air horsepower
The efficiency of axial flow blowers varies from 40 % to
65 % (Marine Engineering, 1992).
The pump or blower drive system efficiency, e s ,
must also be considered. For example, the efficiency of
a hydraulic drive is in the range of 90%.
The required motor horsepower (MHP) is then
determined by
MHP = SHP/eMes
(15)
where: eM is the motor efficiency which, for an
electric motor, varies form 85% at I/4
load to 93 % at full load.
where:
(13)
181
. . . .
0.9
i
0.8
A'A_A_A
'
Atoll 9
'
SHOP TEST
SHIP TEST
~,~'
-~
~. . . .
"
o, [I
0.0
4000
6000
8000
10000
0.6 w
-----~--
- -,
i
04 ~ - - -
-~1[
~o.3
2000
12000
14000
F L O W (GPM)
PUMP P R O P E L L E R EFFICIENCY
FIGURE 9
1.0
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
0.8 !
0.7 : .
. . . .
9
.
9149
9 - -
0.6
0.4
----
~ - - - J 0.3 ~
/
9
9
0.10.2
0.0
SHOP TEST 1
SHIPTEST
DESIGN
10000
20000
F L O W (GPM)
PUMP P R O P E L L E R EFFICIENCY
FIGURE 10
182
Design Session
30000
Water H a m m e r
= gravitational acceleration
= velocity at blade 0.7 radius
The local cavitation number at 0.7R has been
used to predict cavitation inception. For dead head
conditions axial velocity is zero and at the 0.7 blade
radius position;
V r = 0.7riD
D = propeller diameter
n = propeller rotational speed, rps
Figure 11 shows propeller dead head test data. Total
dynamic head and cavitation number at 0.7 radius are
shown as a function of propeller RPM. Cavitation and
power limits are observed between 500 and 600 RPM.
V r
Cavitation
Po =
Pat,n =
Pv =
h =
0 =
Palm +pgh
atmospheric pressure
vapor pressure of water
suction head
mass density of water
I0
..'B
.,.,',
..;::"
,.;"
1
"100
; .....
I
2f~
"
i
.~00
4~]
500
600
700
600
RPM
C A V I T A T I O N NUMBER
F I G U R E 11
183
184
C O M P A R I S O N OF A V A I L A B L E SYSTEMS
Design Session
REFERENCES
Engineering,
Section
ACKNOWLEDGMENTS
185
/-
"~
LIST
!2
!0
It
18
i "1
"h i
;6
~:,
ii
"
t.. . . . . . . . . . .
'
"f
.....
'~
'
STBD LEVEL
"~
"
', ,
i
Ij . ~ . ~ ' ~ ' -
"
4"
--
(/1
0
8
6
PORT LEVEL
4
2
i
[
3900
4000
4100
'
. . . . . .
4200
t
I
4300
J
I
4400
TIME (SEC)
186
Design Session
4500
Discussion
Dirk H6flich, Visitor, INTERING GmbH, Norderstedt,
Germany
The description of the different list control systems is comprehensive and considers the main design aspects. Quick reaction and high flow rates of variable speed pump systems and
blower systems are important features for high performance
list control.
As to the power requirements of blower anti-heeling systems
[section of the paper incorporating equations (12)-(15)] the following should be summarized: INTERING anti-heeling systems
according to Fig. 5 do not use axial flow blowers with an efficiency of 40 to 65% but since 1971 we use rotary positive
displacement blowers (roots-type rotary piston blowers) with
a volumetric efficiency e8 of 90% and a total efficiency of 85
to 88% in anti-heeling system design conditions.
Design of list control tank vents of blower anti-healing systems: Pressurizing of heeling tanks beyond the design criteria
with a blower anti-heeling system is avoided by safety valves
at the blower units. Tank structure is designed to the pressure
preset at this valve, which Will not be exceeded in operation.
The system is connected to atmosphere via the air valve group
(No. 4 in Fig. 5).
Overflow prices ending below minimum water level are fitted to protect the tanks against operator's failure to vent the
tanks when filling or discharging.
187
also create havoc with pressure transmitters for the level gaging systems. In most cases the bellmouth doesn't need to be at
the lowest point in the tank and can therefore be located away
from structurally congested areas and well away from level gage
pressure transducers which would normally be located at the
lowest point in the tank.
3. The one criticism of the paper I have is that it didn't go
into a great deal of detail about the compressed air type LCS.
What are the advantages and disadvantages of a compressed
air system as opposed to a variable speed/pitch pumping system? For example, the compressed air system would appear to
have more piping and valves, but less pumping components.
Also the compressed air system can be used for sea stabilization while underway. The hydraulic variable speed/pitch pumping system is susceptible to leakage. If the propeller pump is
in a submerged location such as a double bottom ballast tank,
these oil leaks can be of major concern to an environmentally
conscious shipowner/operator.
H o r s t H a l d e n , Visitor, INTERING GmbH, Norderstedt,
Germany
As the worldwide leader and the only company experienced
in blower- and pump-activated anti-heeling systems, INTERING thanks the authors for their efforts to bring this subject to
the awareness of a broader marine audience.
We fully support the authors' opinion about the importance
of short system's reaction time and immediate compensation
of cargo weights during loading/discharging to the benefit of
the ship's harbor time. As an example: In the early 1970's,
INTERING blower-activated anti-heeling systems led to har-
reference
JONER, J., HALDEN, H., "New TT-Ferries--Inclining Test in 10 Minutes," Schiff & Hafen, July 1995.
Authors' Closure
Variable Speed Pump System
FLUME
Blower-actlvat~d System
INTERI~IG
Redundancy.
Air Valves for Control and Safety.
Water Valve for Safety only.
Reaction Time
I
Moving Parts in Air only.
I > 3000 Years accum. Operating Experience.
3 Years Guarantee since 1982.
Yes
GM Accuracy
"reasonable" ?
188
Design Session
for an axial flow blower. The use of rotary positive displacement blowers with a higher efficiency makes the power requirements for the air controlled system about equal to the pump
systems. In addition, the safety valve on the blower units means
that the tanks for an air controlled system can be designed to
the normal deep tank standards.
It is difficult to respond to Mr. Halden as many of his remarks are aimed at stressing the sales advantages of systems
he supplies and appear to be less than objective. For instance,
we have no knowledge of the fuel savings enjoyed by the cross
channel ferry fitted with his system (our own experience in
this regard has shown that these claims are easy to calculate
but difficult to prove), the accumulated experience of his staff,
nor the type of guarantee he offers, nor do we believe this is
the proper forum for such claims. Many of his points are similar to those answered above.
As far as redundancy is concerned, the valve in the variable speed pump system is not used for control. The valve is
either open or shut and the speed of the pump is used for control. If the hydraulic system shuts down for any reason, there
is a "fail safe" accumulator that will close the valve.
The parts of a variable speed pump system that are in water are the pump with the hydraulic motor and the valve. The
materials used are corrosion resistant: stainless steel and NIBRAL. In fact, in many installations these items have been submerged in inner bottom tanks that are used for other purposes
to save space. However, as mentioned by Mr. Heskett, hydraulic
leakage could cause environmental concerns.
As mentioned in the paper, the response of the variable speed
pump system is immediate. The response time for this system,
and we assume the air controlled system, is limited not by the
speed of the mechanical components but by the gains programmed into the control system software. Some reaction time,
albeit short, is necessary to avoid overshoot and hunting.
Hydraulic shock or "water hammer" is avoided when the
variable speed pump system is active as the valve is not closed
during normal operations. When the system is shut down, the
control system automatically adjusts the pump speed to obtain
zero flow and the valve is "pulsed" to close in a programmable number of steps to avoid shock waves. If the valve is closed
by the accumulator, the closing time is lengthened by flow
control devices.
Contrary to Mr. Halden's belief, using the list control tanks
to obtain a measure of the GM was first designed into a system supplied by FLUME in 1970 for use on two RO/RO ships
built in Gdansk. The application of the engineering principals
is not difficult and the accuracy will depend on the accuracy
in the level sensors in the tanks, the heel sensor in the control
unit, and the determination of the displacement. Errors in the
sensors are less than 0.1%. If the displacement is obtained from
a draft indicalor, the accuracy can be very good when the vessel is not under way. However, if the draft marks are read fiom
dock side, there is considerable room for error.
We would like to thank all of the discussers for their contributions to this paper and SNAME for providing a forum for
this presentation.
Additional references
FIELD, S.B. et al, "Comparative Effects of U-Tube and Free Surface
Type Passive Roll StabilizationSystems." Royal Institutionof Naval Architects, April 1975.
SELLARS, F.H. et al, "Selection and Evaluationof Ship Roll Stabilization Systems," Marine Technology, Vol. 29, No. 2, April 1992, pp.
84-101.
HALDEN, H., "Influenceof CombineStabilizer,Anti-heeling,and Stability Test Systems on RO/RO Ship Design and Operation,"LS-SD, 1997.
189