Aplicação de Ondógrafo e Monitoramento de Navios Utilizando Medidor de Nível Tipo Radar 
Autor: Márcio Frisso Santos | Publicado: 2014-10-13T05:10:00-07:00

Bom dia,


Essa semana gostaria de publicar um artigo técnico que apresentei na ISA Show - ES - 2014, referente a um trabalho desenvolvido na empresa. Espero que gostem da leitura.

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Aplicação de ondógrafo e monitoramento de navios utilizando
medidor de nível tipo radar 

Márcio. F Santos



Coordenação de Automação, Suporte Técnico Sudeste 2,
Petrobras Transportes - TRANSPETRO
Av. Dante Michelini, 5500 – Ponta de Tubarão – Vitória – ES – Cep: 29090-900


Abstract - The monitoring of sea
conditions for docking and undocking of ships has been increasingly necessary
to ensure the safety of operations at Liquid Bulk Terminal (LBT), operated by
Transpetro pier in the Vale’s area. This work presents the adopted solution to
monitor waves (swell) and horizontal movements of the ship docked, and the
results obtained.



Keywords - ondógrafo, ship, pier, level transmitter,
significant wave height, swell, monitoring.



Resumo - O monitoramento das condições de mar para atracação
e desatracação de navios vem sendo cada vez mais necessária para garantir a
segurança das operações no Terminal de Granéis Líquidos (TGL), píer operado
pela Transpetro na área da Vale. Esse trabalho apresenta a solução adotada para
monitoramento de ondas (swell) e movimentação horizontal do navio atracado, bem
como os resultados obtidos.



Palavras-chave - ondógrafo, navio, píer, transmissor de nível, altura
significativa de ondas, swell, monitoramento.




1&nbsp;&nbsp;&nbsp;
Introdução

O Píer de Terminal de Granéis Líquidos (TGL) localizado no
terminal de Vitória nos intramuros da Vale possui seu posicionamento
diferenciado em relação à maioria dos portos intra e extramuros da companhia.
Enquanto a maioria é posicionada a 90° em relação à margem de terra, o TGL é
posicionado paralelo à margem conforme pode ser observado na figura 1.





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Figura 1. Vista aérea do TGL 

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  800x600
 
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Tal disposição requer um maior cuidado nas operações devido à sensibilidade
do navio atracado quanto à ocorrência de swell (ondas), tendo em vista que sua
superfície de contato com o swell é muito grande e tende a deslocá-lo com maior
força contra as defensas.


Outro problema ocorre durante a operação de navio. Um
mangote flexível é conectado do píer ao navio para viabilizar a transferência
de produto para Terminal de Vitória. O mangote é a parte mais sensível do
processo, sujeito a todo movimento causado pelo swell e motivo de preocupação,
pois caso ocorra um rompimento do mesmo, o produto a ser transferido pode ser
derramado no mar causando um acidente ambiental. A Figura 2 mostra o navio
atracado no TGL com o mangote conectado.
&nbsp; 



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<![endif]-->



Figura 2. Navio atracado com
mangote conectado


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<![endif]-->



2&nbsp;&nbsp;
Solução

Com base na descrição do problema apresentado no item anterior
iniciou-se um estudo para realizar medições de ondas (swell) com menor
incerteza possível, baixo custo e ainda medir a aproximação do casco do navio
em relação ao píer. 



2.1 Ondógrafo

2.1.1 Conhecendo o Ondógrafo



O método mais utilizado hoje para medição de swell é a Boia
Ondógrafo. Tal equipamento é dotado de GPS, tecnologia de transmissão de dados
via rádio, alimentação via luz solar, materiais resistentes a maresia e custa
em média $90.000,00 (noventa mil dólares). A figura 3 ilustra uma dessas boias.





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<![endif]-->



Figura 3. Bóia Ondógrafo

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<![endif]-->



A boia
ondógrafo nos fornece as seguintes informações:



·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Altura Significativa de Ondas (Hs);

·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Direção de Origem Dominante;

·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Período Médio de Pico (Tmp);

·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Altura Máxima (Hmáx);

·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Temperatura da Superfície do Mar (TSM).



A medição do swell era realizada através de um bastão composto
de seis cores, onde cada cor tem 200mm, no qual estimava-se a mínima e a máxima
variação do movimento do mar para realizar o cálculo da amplitude. O período,
ou seja, o tempo decorrido entre um ciclo completo pico a pico era medido
através de um cronômetro. Se a média dessas amplitudes for superior a 500mm o
navio deve desatracar (caso já esteja atracado) ou não é atracado (caso ainda
não esteja). A figura 4 mostra o bastão utilizado para realizar a medição de
swell.




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<![endif]-->



Figura 4 – Bastão para medição de swell



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Observa-se
que tal medição apresenta uma enorme incerteza, pois depende da observação do
operador em um ângulo que contribui principalmente para erros de paralaxe.










Para atender
as necessidades de controle e segurança dos navios no TGL é importante
monitorar:









·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Altura Significativa de Ondas (Hs);




·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Altura Máxima (Hmáx);

·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Período Médio de Pico (Tmp);

·&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
Período Máximo (Tmáx).






Com base nessas informações
consideradas importantes de serem monitoradas, optou-se por utilizar um
transmissor de nível tipo radar para medir a variação de altura do nível do mar
associado ao algoritmo implementado no CLP (Controlador Lógico Programável) do
Terminal, Rockwell SCL 500 e no sistema supervisório, GE Fanuc - IFIX. A tecnologia
de radar foi escolhida por ser capaz de realizar medições em superfícies de
líquidos com espuma, algo que não seria possível com ultrassom por exemplo,
além de não ter contato com a água do mar, evitando corrosão de partes do
sistema. Para essa solução foi utilizado um transmissor da Emerson modelo 5402AH1E12SPVNAQ4
que custou R$5.900,00. A Figura 5 mostra o transmissor de nível instalado no
píer desempenhando a função de ondógrafo.














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Figura 5. Transmissor de nível
desempenhando a função de ondógrafo.

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   UnhideWhenUsed="false" Name="Colorful Grid Accent 5"/>
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   UnhideWhenUsed="false" Name="Light List Accent 6"/>
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   UnhideWhenUsed="false" Name="Light Grid Accent 6"/>
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   UnhideWhenUsed="false" Name="Medium List 1 Accent 6"/>
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   UnhideWhenUsed="false" Name="Medium Grid 1 Accent 6"/>
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   UnhideWhenUsed="false" Name="Colorful Shading Accent 6"/>
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<![endif]--><!--[if gte mso 10]>

 /* Style Definitions */
 table.MsoNormalTable
 {mso-style-name:"Tabela normal";
 mso-tstyle-rowband-size:0;
 mso-tstyle-colband-size:0;
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 mso-style-parent:"";
 mso-padding-alt:0cm 5.4pt 0cm 5.4pt;
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 mso-pagination:widow-orphan;
 font-size:10.0pt;
 font-family:"Times New Roman","serif";}

<![endif]-->




2.1.2 Método de Cálculo de Altura Significativa de Ondas (Hs)


A figura 6 apresenta o registro do movimento da superfície do
mar lido pelo transmissor de nível e historiado pelo sistema supervisório do
terminal.&nbsp;



 <!--[if gte mso 9]>
 
  800x600
 
<![endif]-->

<!--[if gte mso 9]>
 
  Normal
  0
  
  
  21
  
  
  false
  false
  false
  
  PT-BR
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  MicrosoftInternetExplorer4
  
   
   
   
   
   
   
   
   
   
   
   
  
<![endif]--><!--[if gte mso 9]>
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Figura 6. Registro do movimento da superfície do mar



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A figura acima fornece informações importantes a respeito das
ondas do mar. Observa-se que as subidas e descidas do mar ocorrem de forma
irregular, tanto para cima quanto para baixo. Os pontos mais altos atingidos pelas
ondas são chamados de cristas, enquanto os pontos mais baixos são chamados de
cavados. O nome dado ao intervalo de tempo entre a passagem de duas cristas é
denominado período. O período também é um dado importante para tomada de
decisão quanto à permanência ou não de um navio atracado no píer.







Em um primeiro instante, tendemos a associar a altura de uma
determinada onda à altura de sua crista, porém a altura correta da onda é a
diferença entre a crista e o cavado. Em um mar um pouco mais agitado é provável
que sejam identificadas sub-ondas dentro das ondas, caracterizando ruídos na
medição. Essas sub-ondas devem ser desconsideradas e o algoritmo implementado
neste trabalho é capaz de filtrar esse tipo de ruído.









O cálculo de Altura Significativa de Ondas é definido pela média
das quadro maiores de uma amostragem de doze ondas, sendo que cada onda é definida
pela diferença entre a crista e o cavado, desconsiderando as sub ondas (ruídos)
mencionados anteriormente.









A figura 7 ilustra parte do ladder implementado no CLP
utilizando o software RSLogix 500.













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<![endif]--><!--[if gte mso 10]>

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<![endif]-->



Figura 7. Programa
do CLP

<!--[if gte mso 9]>
 
  800x600
 
<![endif]-->

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  MicrosoftInternetExplorer4
  
   
   
   
   
   
   
   
   
   
   
   
  
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A figura 8 apresenta o fluxograma do algoritmo implementado no
CLP para tratamento dos ruídos e definição das doze amplitudes para enviar para
o sistema supervisório.





&nbsp;Figura 8. Fluxograma de lógica
do CLP





2.1.2 Validação dos Resultados



Para validação dos resultados obtidos confrontou-se as leituras
do equipamento da Transpetro com o da Vale. O equipamento da Vale possui outro
princípio de medição, baseado em diferencial de pressão possuindo contato
direto com a água do mar.



A Tabela 1 apresenta a comparação entre as medições obtidas
através do ondógrafo da Vale e do equipamento desenvolvido pela Transpetro para
medir o swell.






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  800x600
 
<![endif]-->



Tabela 1. Comparação de
leituras do ondógrafo da Vale com o da Transpetro


<!--[if gte mso 9]>
 
  800x600
 
<![endif]-->



A figura 9 apresenta o cruzamento dos valores obtidos pelos dois
equipamentos.





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  800x600
 
<![endif]-->



Figura 9. Cruzamento de leituras dos equipamentos
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<![endif]--><!--[if gte mso 10]>

 /* Style Definitions */
 table.MsoNormalTable
 {mso-style-name:"Tabela normal";
 mso-tstyle-rowband-size:0;
 mso-tstyle-colband-size:0;
 mso-style-noshow:yes;
 mso-style-priority:99;
 mso-style-parent:"";
 mso-padding-alt:0cm 5.4pt 0cm 5.4pt;
 mso-para-margin:0cm;
 mso-para-margin-bottom:.0001pt;
 mso-pagination:widow-orphan;
 font-size:10.0pt;
 font-family:"Times New Roman","serif";}

<![endif]--><!--[if gte mso 9]>
 
  Normal
  0
  
  
  21
  
  
  false
  false
  false
  
  PT-BR
  X-NONE
  X-NONE
  
   
   
   
   
   
   
   
   
   
  
  MicrosoftInternetExplorer4
  
   
   
   
   
   
   
   
   
   
   
   
  
<![endif]--><!--[if gte mso 9]>
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Os desvios encontrados são considerados toleráveis, tendo em
vista que o tempo de amostragem, tempo de cálculo e princípio de medição são
diferentes entre os equipamentos. Por exemplo, enquanto o sistema da Transpetro
está coletando informações para definir a primeira amplitude, o sistema da Vale
já pode estar coletando informações para definição de sua oitava amplitude, que
por consequência terão médias diferentes.




2.2 Deslocador – Monitor de Navios

Devido à disposição do TGL como já mencionado, o navio atracado
sofre grande interferência do swell, fazendo com que os mesmos sejam movimentados
contra as defensas com maior força e frequência. Tal esforço também é
transferido para o mangote conectado, parte mais sensível da operação.



Com base nessa situação partiu-se para a solução de monitorar o
deslocamento horizontal do navio em relação ao píer, ou seja, medir o quanto o
navio “ataca” as defensas. Baseado nessas informações somadas com as
informações do ondógrafo tomar a decisão de manter ou não o navio atracado no
TGL.&nbsp;



Até a implantação desse projeto, não havia nenhum monitoramento
dessa variável pelos operadores, a não ser pelo “sentimento” do comandante do
navio e o capitão de manobras da Transpetro.



Como esse movimento horizontal do navio é proveniente da
movimentação vertical do mar (swell) ele apresenta as mesmas características
apresentadas na figura 6, ou seja, forma picos e vales e também apresenta
ruídos (sub-ondas). Para realizar as medições utilizou-se a mesma filosofia que
foi adotada no ondógrafo, porém neste caso apontamos a antena de outro medidor
de nível tipo radar para o casco do navio. O modelo de transmissor é o mesmo
adotado para o ondógrafo (5402AH1E12SPVNAQ4) e utilizou-se o mesmo algoritmo
para os cálculos de amplitude média, amplitude máxima, período médio e período
máximo. Fazendo uma analogia com o ondógrafo a amplitude seria como a diferença
entre a crista e o cavado, onde a crista seria o ponto mais próximo de medição
entre o radar e o casco e o cavado seria o ponto mais afastado de medição entre
o radar e o casco do navio. A Figura 10 mostra o transmissor de nível instalado
no campo desempenhando a função de deslocador, apontado para o casco do navio.





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Figura 10. Transmissor de
nível desempenhando a função de deslocador


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2.3 Sistema Supervisório

Todas as informações para tomada de decisão são disponibilizadas
no sistema supervisório da Sala de Controle do Terminal de Vitória, podendo ser
configurados alarmes, monitoramento instantâneo das variáveis e consulta a
dados históricos. A Figura 10 apresenta medições disponíveis para o operador no
sistema supervisório.





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Figura 11. Medições
disponíveis no sistema supervisório


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As figuras 12 e 13 apresentam as telas de configuração de
alarmes do Ondógrafo e do Deslocador respectivamente.





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Figura 12. Tela de
configuração de alarmes do Ondógrafo




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Figura 13. Tela de
configuração de alarmes do Deslocador


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As figuras 14 e 15 apresentam as telas de gráfico histórico do
Ondógrafo e do Deslocador respectivamente.





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Figura 14. Tela de gráfico
histórico do ondógrafo




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Figura 15. Tela de gráfico
histórico do deslocador


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4&nbsp;&nbsp;
Conclusão

Conclui-se que a solução adotada apresentou-se eficiente, pois
contribui para a segurança pessoal, retirando o operador da área em uma
condição de risco, e ambiental, controlando os movimentos sofridos pelo
mangote, além de poupar recursos financeiros evitando desatracação equivocada
de navios e suas eventuais sobre estadia.

Agradecimentos

Agradeço a gerência e a coordenação do STSE2
pela confiança na condução desse trabalho e ao nosso cliente DTO/TA/OPVIT que
com toda paciência nos apoiou e aguardou a solução definitiva.

Referências Bibliográficas

MELO, Heloi. Medindo Ondas. www.popa.com.br



SUTIL G., Gilson. Sistema de Medição de Ondas Marinhas
Ondilógrafo. Departamento de Engenharia Elétrica, Vitória, ES, UFES, Janeiro/2005,
dissertação de graduação.



PICININI C., Flávio. A onda de projeto por meio da análise
estatística de extremos a partir de dados medidos por satélite. Macaé, RJ,
Artigo.



EMERSON,
Reference Manual, Rosemount 5400 Series, Junho/2012



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