DEPT OF OCEAN ENGINEERING IIT MADRAS, CHENNAI

Transcription

1 DEPT OF OCEAN ENGINEERING IIT MADRAS, CHENNAI HPMM SYSTEM TENDER SPECIFICATION (Nte: Only thse wh participated in the Pre-Bid meeting held n at the Department f Ocean Engineering, IIT Madras are eligible t participate in this Bid) Ocean Engineering, Indian Institute f Technlgy, Madras.

2 GENERAL GUIDELINES FOR TENDER PARTICIPATION A. Eligibility Criteria t participate in the Tender: 1. Vendr shuld have executed similar Electr-Mechanical System cmprising f Serv Mtin cntrl with High Precisin Mechanical System Prjects n a ttal Turn Key basis with cmplete wnership in India in last fur years perid and prf t that effect shall be prvided. 2. Vendr shuld have supplied t Institutins as well as Industries t ensure system supplied cmply Industrial grade and guidelines. Required Evidence shall be prvided alng with ffer. 3. Vendr shall be a Reputed Manufacturer f the Drives/Machines r their authrized Representative and prf t that effect shall be prvided. 4. Vendr shall be required t present their capabilities t the Technical Cmmittee r Exclusive Purchase Cmmittee, if applicable. 5. EMD f specified value shall be enclsed alng with the Offer. 6. Vendr shall pssess ISO 9000 certificatin fr Quality System implementatin. Required Evidence shall be prvided alng with ffer. Ocean Engineering, Indian Institute f Technlgy, Madras.

3 B. Mandatry Guidelines t be fllwed t participate in the tender: Eligible Vendrs shall visit the Twing Tank facility at IIT Madras and understand the equipment Requirements. The vendr shall deliver a Pretender Technical Presentatin, after the detailed study f the Equipment After Pretender Presentatin, the selected Vendrs shall submit the Offer in a sealed cver as tw Bids Technical Offer and Cmmercial Offer n r befre the deadline specified. The selected Vendrs shall fllw the Tender Specificatin t Design and Supply f the ttal system t meet all the Equipment requirements. The selected Vendrs shall submit a detailed Prject schedule fr Design, Manufacturing, Testing, Inspectin, Delivery, Installatin, cmmissining and Handing ver the equipment t IIT Madras. After taking the feedback frm the Technical Team f IIT Madras, the abve Prject schedule shall be updated t meet IIT Madras requirements and shall be enclsed alng with the technical Offer. Selected Vendrs shall cmply the technical specificatins pint wise and Deviatins shall be mentined clearly as part f Technical Offer. The successful Vendr f the prject shall cmply the Design, Manufacturing, Testing, Supply and cmmissining f the prpsed system as per the agreed terms f IIT Madras. Ocean Engineering, Indian Institute f Technlgy, Madras.

4 1.1 Basic Design Guidelines: 1.0 GENERAL General Scpe: This Specificatin cvers design, engineering, manufacture, inspectin, supply, strage, site handling, installatin, testing and cmmissining f DC drives with Existing DC Mtr and PAC/PLC, MMI and HMI cntrls t upgrade the existing system by replacing existing Drive and Autmatin cntrls fr HPMM Test Bed Supplier Requirements: The supplier shall be a recgnized leader in Industrial Autmatin and Cntrl capable f supplying all necessary supprt services including hardware and sftware supprt, cnfiguratin services, system installatin and cmmissining Standard: The equipment and accessries cvered under this specificatin shall be designed manufactured and tested in accrdance with latest relevant Internatinal Standards / Indian Standards and cdes f practices published by the Internatinal Standards Institutin / Indian Standards Institutin wherever applicable in rder that specific aspects under Indian cnditins are taken care f SAFETY: All equipment shall be cmplete with apprved safety devices. The design shall include all reasnable precautins and prvisins fr the safety f perating and maintenance Persnnel. 1.2 Site Cnditins: The electrical equipment prpsed shall be suitable fr peratin under the fllwing lcal cnditins: Altitude f site : <1000 m (abve sea level) Ambient temperature : 45 deg. C Relative humidity : 95 % Nn Cndensing 1.3 Vltage and Pwer Supply Cnditins: Lw Vltage Supply shall be: System Vltage : 415 V, 3 phase, 3 wire Frequency : 50 Hz Vltage Fluctuatin : ±10% Frequency Fluctuatin : Hz Ocean Engineering, Indian Institute f Technlgy, Madras.

5 Abut Planar Mtin Mechanism (PMM) 2.0 HPMM AUTOMATION SCOPE OF WORK & SUPPLY Planar Mtin Mechanism (PMM) Equipment is a facility prvided in a Twing Tank t perfrm experimental studies with ship mdels t determine the maneuvring characteristics f a ship. The experiment is cnducted in the twing tank where the PMM setup is attached with the carriage. The ship mdel is scillated, at prescribed frequency and amplitude, in different mdes f mtin in the hrizntal plane while it is twed alng the tank at a pre-determined speed. The hydrdynamic frces and mments acting n the ship mdel are measured, recrded and prcessed t get the hydrdynamic derivatives appearing in the ship maneuvring equatins f mtin. Please refer the Appendix n Planar Mtin Mechanism (PMM) Equipment appearing twards the end f this dcument fr mre details n PMM peratin and required specificatins. Scpe f Wrk and Supply The scpe includes the Design, develpment and supply f HPMM mechanical System with Frce Measurement Unit, Suitable Serv Drive System, Prgrammable Autmatin Cntrller/ Prgrammable Lgic Cntrller based cntrl System, User Interactive Graphical Operatr Terminal, and Exhaustive SCADA system t meet all the requirement fr the prpsed Test Rig. The prpsal shall cmply fr high perfrmance in functinal accrdance with current Industry practice. Ocean Engineering, Indian Institute f Technlgy, Madras.

6 A-1) HPMM Mechanical System: Summary: The mechanical plugin type structure shall be in line with IIT Madras basic cnceptual design. Cmplete Serv Actuatrs with required mtin cntrl system, serv drives and transducers fr precise psitin cntrl applicatin shall be the majr requirements. The system shall include tw units Lad cells f suitable capacity with required Signal Cnditiners, Pwer Supplies and required Interface t the Prgrammable Autmatin Cntrllers. The lad cells must be capable f handling bending mments in perpendicular axis. This system will have basic netwrking intelligence t get interfaced with Twing Tank Cntrller s as t wrk in synchrnizatin. 1. Base Structure: The base structure shall be fabricated with strng and durable material and sectins & duly stress relieved. The structure shall have machined platfrm plates fr munting the Y- guide ways & all the ther sub-assemblies like gear bx, transducers, mtin mechanisms- etc. The structure shuld cnfrm t IP67 class. The structure shall be assembled upn the existing Twing Carriage with prper munting prvisins. The structure must be such that it can be firmly attached t the twing carriage with ease and remved and stred when nt required. The strage bin als shuld be supplied. 2. Mechanism fr linear mtin & rtary mtin: All the critical mechanical cmpnents required fr Linear as well as Angular mtin- Ball Screw, LM guides, Serv Gear Bx, etc. shall be engineered with high precisin. Linear mtin. The Linear mtin shall be realized using suitable Serv mtr, Serv Gear Bx, LM guides and Machine Tl accessries. The LM guides will have bttm supprting plates & end butting plates fr alignment features. A ball screw f required dia shall be selected with end bearing supprt n either ends. The whle mechanism is munted n the slide plates. Ocean Engineering, Indian Institute f Technlgy, Madras.

7 The guide ways & the ball screw shall have suitable cvering t prtect water entry. Rtary mtin. The rtary mtin r the YAW mtin f 15 degrees shall be achieved, with a reslutin f 0.01 degree. A serv mtr thru a gear bx is cnnected t the drive pinin thrugh a rtary cupling fr rtary mtin with zer back lash. The whle assembly shall be munted n the slide plate n the base structure & will have t be mass balanced by design. 3. Munting arrangements n the existing slide- t the given hardware. Ø The whle assembly - munted n the base structure, shall be assembled n the existing Twing Carriage r this assembly shall be integrated with a separate add-n carriage. Ø The assembly shall be suitably designed t assemble & fit withut majr changes n the existing Twing Carriage. Ø Any add-n system must be munted n the west side f the carriage leaving the ther three sides un bstructed. Ocean Engineering, Indian Institute f Technlgy, Madras.

8 Static Cnverter Serv Drives System A-2) Multi axes Mtin Cntrl System 1. Drive system shall be an Integrated Mtin Cntrl System 2. System shall have tw axes Psitin cntrl system with a cmmn DC bus Technlgy. 3. Serv system shall facilitate bth Sway as well as Yaw Mtins, independently r in cmbined mde. 4. Serv System shall cnfirm a psitin accuracy f 0.01 mm r 0.01 deg at the mtr shaft, in case f Linear r Angular Mtin respectively. 5. Serv system shall use high reslutin encder as the psitin feedback device fr bth the axes. 6. Serv system shall have Incmer a Multifunctin Meter t indicate Vltage, Current, Pwer with required CT etc. and it shuld be prvided. 7. Serv system shall have required di/dt prtectin fr the frnt end cnverter. 8. Serv system shall have input cntactr islatin f suitable rating. 9. Drive system shall have 3 phase Islatin thrugh a MCCB f suitable rating. 10. Cmplete Technical Catalg f Serv Drives shall be submitted alng with the technical ffer. Ocean Engineering, Indian Institute f Technlgy, Madras.

9 B-1) General Specificatins f Multi Discipline based Master Cntrller: B-1.1) General Requirements This specificatin describes the functinal requirements, design features, hardware and sftware required fr a Redundant Prgrammable Autmatin Cntrller (PAC) / Prgrammable Lgic Cntrller (PLC) fr HPMM Lab Facility. Fr the purpses f this specificatin, a scaleable PLC is defined as ne that prvides a rbust, secure, cst-effective, and flexible slutin with easy-t-use hardware and sftware. The PLC shall perfrm as a minimum the fllwing functins as defined in the specific sectins f this specificatin: Tag Based integrated Multi-discipline Cntrller Integrated Alarms and Events B-1.2) Integrated Cntrllers The integrated cntrller shall be capable f handling the fllwing cntrl requirements: Machine cntrl. discrete peratins, cntinuus prcesses cntrl, and batch prcesses, The cntrller shall seamlessly integrate t the pen cntrl system as fllws: cnfiguratin f the integrated cntrller shall create all the I/O data structures changes t a cntrl strategy shall be made in ne place and be reflected thrughut the system, cntrller data shall be tag based and shall be glbally available t all parts f the system by name, standard perating displays shall be prvided t wrk with the cntrller B-1.3) Prgrammable Autmatin Cntrller / Prgrammable Lgic Cntrller Functinal Requirement Integrated Cntrller and I/O This sectin describes the requirements f the new integrated cntrllers t be supplied as part f this System. The integrated cntrller shall supprt: I. Analg Inputs. II. Analg Outputs III. Discrete Inputs. IV. Discrete Outputs Ocean Engineering, Indian Institute f Technlgy, Madras.

10 B-1.4) Integrated Cntrller: 1. The address f the cntrller shall be easily visible t the eye, either as an LED display n the cntrller r n the netwrk card that cnnects the cntrller t the system. Use f sftware tls t identify a cntrller is nt acceptable. 2. The integrated cntrller shall be capable f supprting a minimum executin rate f 10 msec (fr standard applicatins) r 5 msec (fr applicatins requiring higher speed prcessing). 3. The system shall supprt the creatin, lading, activatin, deactivatin and deletin f cntrl strategies n-line. 4. The integrated cntrller shall supprt the replacement I/O mdules n-line. 5. Existing cntrl strategies and I/O mdules will cntinue t functin while n-line replacement is being made. 6. As a minimum, the integrated cntrller shuld cntain bth the Cntinuus Cntrl and Sequential Cntrl functins. B-1.6) Cnfiguratin Sftware: 1. The cnfiguratin sftware shall be Windws based supprting drag and drp cnfiguratin in a natural hierarchical envirnment. 2. Standard and user-definable templates shall be supprted t allw fr rapid applicatin develpment and reuse f existing cntrl strategies. 3. The cnfiguratin sftware shall supprt n-line mnitring f cntrl mdules that have been laded t the integrated cntrller. 4. Remte access t the engineering database shall be supprted acrss any media capable f supprting TCP/IP and UDP/IP cmmunicatin. 5. N additinal sftware shuld be required fr the PLC t see the cntrl strategy nce it has been built using this tl. B-1.7) PLC Database Requirement: 1. The PLC database shall be truly glbal. 2. This means that a tag shall be defined nly nce in the system. Once defined it shall be pssible t refer t this tag frm any nde n the netwrk. 3. The cnfiguratin f the Server database shall nly have t be dne nce regardless f whether redundancy is emplyed r data is distributed between servers. 4. PAC/PLC shall allw cmpsite pints, where a cmpsite pint is a tag that is brken up int discrete cmpnents, which are separated e.g. area.pint. This allws better segregatin f the plant cmpnents. Ocean Engineering, Indian Institute f Technlgy, Madras.

11 B-1.13) Prcess Cntrl Netwrk and Remte I/O Netwrk The prcess cntrl netwrk and remte I/O netwrk shall be an pen, flexible, high perfrmance netwrk such as CntrlNet. 1. It shall be pssible t lcate I/O mdules remtely frm the prcessr rack. In additin t I/O mdules lcated at the prcessr, a minimum f up t twenty fur (24) remte I/O sites per cntrller must be supprted. 2. It shall be pssible t lcate I/O sites up t 1000 meters frm the cntrller withut the use f repeaters and fiber ptic media. 3. With the use f repeaters and fiber ptic media, it shall be pssible t lcate the I/O up t 10,000 meters frm the cntrller. 4. There shall be n deteriratin whatsever in the speed f the netwrk when the cable is extended t the distance limits mentined abve. 5. The I/O netwrk must meet all f the requirements abve. In particular, the media used must be redundant. 6. It is nt acceptable t daisy chain I/O racks tgether, such that the lss f a single cable results in the lss f any I/O. Ocean Engineering, Indian Institute f Technlgy, Madras.

12 B-2) Scpe f supply under PLC panel: 1 set. B-2-1) Basic Scpe f Supply Prgrammable Autmatin Cntrller/prgrammable Lgic Cntrller, CntrlLgix Based Master Cntrller system fr the HPMM cnsisting f the fllwing: v Cntrl Lgix Prcessr v Chassis v Pwer Supply fr Prcessr v CntrlNet Cmmunicatin Mdule v Ethernet Cmmunicatin Mdule v Digital Input (24VDC, 16 Ch) v Digital Output (24VDC, 16 Ch) v Analg Input v Analg utput 01 N. 01 N 01 N. 01 N. 01 N. 16 Pints 16 Pints 08 Pints 04 Pints Supplier shall validate autmatin scpe t meet equipment functinal requirements. Supplier shall cnsider Distributin f Remte I/O in PLC Panel and Cntrl Desk. Cmplete Technical Catalg f PLC and I/ Units shall be submitted alng with the technical ffer. Ocean Engineering, Indian Institute f Technlgy, Madras.

13 C) Operatr Interface Terminal: 1 set. C-1) ELECTRONIC OPERATOR INTERFACE SPECIFICATION: 1. The Electrnic peratr interface shall be Clr Active Matrix Thin Film Transistr (TFT) Type having a reslutin f 800X600 r better, 18 bit clr graphics having a size f 264 X 184 mm (12.1 inches diagnal). 2. The Electrnic peratr interface shall have a standard memry f 64 MB extendable up t 128 MB having Ethernet 10/100MBPS /Prfinet, RS 232 Prt and USB prts 3. Tags created in the Prgrammable cntrller shuld be used directly in the HMI withut creating an additinal HMI tag database 4. The Electrnic peratr interface shall supprt trending up t 8 pens per trend 5. The Electrnic peratr interface shall supprt data lgging up t 300,000 values lcally nt cmpact flash card 6. The Electrnic peratr interface shall supprt expressins and animatin 7. The Electrnic peratr interface shall cmmunicate with prgrammable cntrller n Ethernet/IP / Prfinet netwrk. 8. Run mde bject (buttn) shall be available t place the Operatr terminal in Run mde n demand frm the cnfiguratin mde 9. The Electrnic peratr interface shall have prvisin fr battery backed time clck stamps critical data. Accuracy +/- 2 minutes per mnth C-2) Scpe f supply under Operatr Interface Terminal: 12.1 Inches minimum, Clr, Tuch type, Operatr terminal ver EitherNet/IP (T be munted ON Cntrl Desk) 1 set..01 N. This peratr Terminal shall facilitate peratr interactive cntrls and the System/Drive Parameters display. Cmplete Technical Catalg f Operatr Terminal shall be submitted alng with the technical ffer. Ocean Engineering, Indian Institute f Technlgy, Madras.

14 D) SCADA (HMI) Statin: D-2) Scpe f supply f HMI and Engineering Statin: 1 set. Industry Standard, FTView HMI Sftware, unlimited Tags, 25 Screens, Licensed Sftware 01 N. Engineering Sftware, Studi 5000 with FTview Studi 01 N. DELL r HP Laptp fr HMI statin with latest cnfiguratin with Windws OS and antivirus sftware 01 set This Scada statin is netwrked with Cntrller thrugh Ethernet/IP. E) Encders 1 set. Supplier shall prvide an Encder t be munted n the Nn-driving end f Serv Mtrs t sense the actual speed and cntrl the same thrugh the Drive. Encder munting shall be in the vendrs scpe f supply: I) Cntrl Desk : 1 N Cntrl desk shall be fitted with Operatr Terminal t indicate system Data like Frce, Linear and Angular Psitin data as against the set set Psitin reference and ther essential cntrls. Design, Manufacturing, Supply and lcating the cntrl Desk in the existing carriage will be in supplier scpe in cnsultatin with IITM. I) Drive Cntrl Panel : 1 N Vendr shall design a suitable cntrl panel t huse the all the drive and cntrl cmpnents. Vendr shall als lcate this panel in the existing Twing Carriage withut any hindrance fr the system peratin Ocean Engineering, Indian Institute f Technlgy, Madras.

15 J) Field Cables: 1. Pwer Cables: AC Incming Cable Mtr Pwer cable Feedback Cable 1 Unit 2 Units 2 Units 2. Special Cables: Eithernet/IP Cable Cntrlnet Cable 3. Cntrl Cables and screen cables frm Driver cntrl Panel t Remte cntrl desk, as required 20 m 20m 1 Unit Nte: Supplier may cnsider the required distance between Drive Cntrl Panel and the Mtr/ Field devices based n their study Supplier may cnsider the required distance between Drive Cntrl Panel and the Cntrl desk based n their study. K) Spares fr 2 years: I.1. Serv Drive critical spares: 1 set 1) Serv axis Drive unit with Serv Mtr which shall be suitable fr bth the axes Supplier shall include any ther cmpnents, if they are critical spares fr the system peratin. I.2. PLC critical spares: 1 set L) Services: 1. Prcessr - 1 N 2. Pwer supply 1 N 3. DI Card ( 16 Channels) - 1 N 4. DO card ( 16 Channels ) - 1 N 5. AI/AO Card ( 4 ch /2 Ch ) - 1 N 6. Ethernet Cmmunicatin Card- 1 N 7. Cntrlnet Cmmunicatin card - 1 N J.1) Erectin and Cmmissining: All cntrl panels, cntrl desks Installatin and Erectin shall be included in the scpe. The scpe shall clearly clarify the number f days are cnsidered fr the erectin and Cmmissining. Ocean Engineering, Indian Institute f Technlgy, Madras.

16 J.2) Training: The supplier shall cnsider tw cmpnents in their scpe with respect t Training. v The supplier shall als include the training fr IIT Madras Engineers fr 2 days ver the system ffered after the cmmissining at IIT Madras. M) Dcumentatin: The Suppliers shall submit fllwing dcumentatin 1. At the time f Techn cmmercial Offer submissin: 1.1. Detailed Technical Offer 1.2. Serv Drive Pwer cnfiguratin diagram in a Single Line Frmat Ttal cntrl System Cnfiguratin Diagram 1.4. Detailed system descriptin fr the prpsed slutin 1.5. Pint wise deviatin List fr the tender specificatin 1.6. All the prduct Catalgs and supprting dcuments fr the cnfirmed specificatin 2. After the rder placement, at the time f Design apprval stage: 2.1 Detailed Engineering Drawings f Drive system 2.2 Detailed Engineering Drawings f Cntrl System 2.3 Flw Diagram fr Operatr Terminal and SCADA system 3. After the rder placement, at the time f dispatch f the system: 3.1 Cmplete Schematic Drawings as manufactured. 3.2 User Manual fr the cmplete System 3.3 Truble Shting / Maintenance Manual 3.4 Prduct catalgs and User manual N) Reference List: The Suppliers shall submit the Glbal and Dmestic Reference List fr the prpsed slutin O) Exclusins: The Suppliers shall exclusively list ut the items which are excluded frm their scpe f supply. Ocean Engineering, Indian Institute f Technlgy, Madras.

17 APPENDIX Planar Mtin Mechanism (PMM) Equipment The Department f Ocean Engineering, IIT Madras is planning t install a PMM facility in its existing twing tank facility. Details f the PMM facility are explained belw. Technically cmpetent firms invlved in the design, develpment and cmmissining f a PMM and interested in this prject may please participate in the tender. These firms MUST visit the twing tank at the Department f Ocean Engineering, IIT Madras t understand the existing twing carriage system, and t take required measurements and ther inputs fr the PMM design and peratin. The fllwing material presented here is a guideline t make the PMM design, including its peratin, expected cmpnents, technical requirements, data acquisitin and prcessing aspects. Abut Planar Mtin Mechanism (PMM) Planar Mtin Mechanism (PMM) Equipment is a facility prvided in a Twing Tank t perfrm experimental studies with ship mdels t determine the maneuvring characteristics f a ship. The experiment is cnducted in the twing tank where the PMM setup is attached with the carriage. The ship mdel is scillated, at prescribed frequency and amplitude, in different mdes f mtin in the hrizntal plane while it is twed alng the tank at a pre-determined speed. The hydrdynamic frces and mments acting n the ship mdel are measured, recrded and prcessed t get the hydrdynamic derivatives appearing in the ship maneuvring equatins f mtin. The prpsed PMM can have tw electric actuatrs which are used in a cntrlled manner t prduce transverse scillatins while the mdel is twed by the twing tank carriage at the required speed (upt 3.0m/s). The ship mdel will be subject t pure sway mtin (translatry mtin alng the breadthwise directin f the mdel), pure yaw mtin (rtary mtin abut the mdel vertical axis) and the cmbined sway & yaw mtin. The PMM setup shuld als have prvisin t rient the mdel at any static heel angle (inclinatin f the ship mdel transverse plane abut the vertical) f 15 deg. t either side (prts and starbard sides) with at least in steps f 2.0 deg. The mdel in this rientatin needs t scillate in different mdes as mentined abve. The vide in the link shws the different mdes f mtin f a PMM. In PMM, the different mdes f mtin are achieved by adjusting the phase difference between the tw actuatrs, where such cncepts are used. The supplier has the freedm t chse a different and efficient cncept fr the PMM. PMM setup will impart sinusidal mtin t the mdel in the desired degree f freedm. The setup shuld have prvisins t measure and recrd the sway and yaw scillatin time histry at least at every 10 millisecnds, with a sway mtin accuracy f 10 micrmeters and yaw angle accuracy f 0.01 deg. The surge and sway frces and yaw mment time histry have t be measured accurately and recrded fr subsequent analysis. Frces and mment will be measured using frce sensrs attached with the mdel setup. The mdel shuld have mechanical cnnectins/links in the struts t prvide freedm f mtin fr the mdel in the vertical plane. That is, the mdel shuld be free t heave and pitch while the experiments are perfrmed. The PMM facility shuld have the data acquisitin and recrding system, preferred t be dne using a dedicated laptp cmputer, feedback arrangements t check and verify the imparted scillatin displacement and frequency/perid f scillatin. The prpsed PMM facility shuld integrate well with the existing twing tank facility. The whle system shuld be free frm vibratin s as t avid spurius data due t it, which might vitiate the frce data measured frm the tests. Ocean Engineering, Indian Institute f Technlgy, Madras.

18 Mdes f Operatin in PMM 1. Pure sway In pure sway mde f peratin, the mdel is scillated sinusidally in the lateral directin with its axis always parallel t the axis f the twing tank. 2. Pure yaw In pure yaw mde f peratin, the mdel is scillated sinusidally in the lateral directin with its axis always tangential t the sinusidal path. 3. Cmbined Sway and Yaw In the cmbined sway and yaw mde f peratin, the mdel is scillated sinusidally in the lateral directin with its axis always having a drift angle with its sinusidal path. Twing Tank Dimensins and Cycles Length 82.5 m Breadth 3.2 m Depth 2.8 m Tank length available fr steady speed testing - 50 m 50 meter tank length, which is available fr steady speed cnditin is divided int 5 equal parts t get 5 cycles f run. Time t cmplete ne cycle (10 m) minimum 10secnds Ocean Engineering, Indian Institute f Technlgy, Madras.

19 Sway and Yaw Mtin & Estimated Frce Sway Mtin Sway mtin amplitude : +/- 0.4 m Sway Velcity m/s Sway Acceleratin 0.2 m/s 2 Expected mass f the ship mdel 300 kg Expected Frce required t mve the ship mdel 1200 N Yaw Mtin Yaw amplitude Yaw angular velcity 0.15 rad/s Yaw angular acceleratin rad/s 2 Expected yaw mment 300 Nm Majr Cmpnents in PMM mechanism and Apprximate Specificatins 1. Actuatrs Actuatrs are used t mve the mdel in the prescribed path, as required in different mdes f mtin mentined abve. Type Electrically perated Actuatr Strke length (sway duble amplitude) required 800 mm Translatinal velcity required 0.4 m/s Translatinal acceleratin 0.2 m/s 2 Actuatr Frce 1200 N Psitining repeatability - ± 0.03mm 2. Frce Sensrs Sensrs are used t accurately measure the surge and sway frces and yaw mment n the mdel. Number f sensrs usually 2 Cmpnents t be measured ne sensr - single cmpnent (Sway frce), and the ther tw cmpnent (surge & sway frces) Frce range minimum requirement : ± 1200 N 3. Supprting frames and struts 4. Mechanical links 5. Guide rails 6. Sway trlley 7. Display and prcessing unit. Nte: Mre detailed requirements and specificatins are given in the main text f the TENDER SPECIFICATIONS dcument. Fr further details, please cntact : Prf.P. Krishnankutty, Department f Ocean Engineering, IIT Madras, Chennai , India; Tel: ; Mb: pkrishnankutty@iitm.ac.in Ocean Engineering, Indian Institute f Technlgy, Madras.