Diagnosis and FTC by Prof. Blanke [pdf] - NTNU

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Constraints – forces from actuators
c
N =− l c ( θ ) + l c ( θ ) + l c ( n ) torque from actuators
and wind
c : T c ( n ) g ( ) total sway force
c : T c ( ) c ( ) g ( ) total surge force
1 :
z y T 1 y T
N
+ gw
( vw)
2 x b 3
2 y = b 3 +
Y
w vw
3 x = T θ1 + T θ2 +
X
w vw
Constraints – dynamics and kinematics
c4: −1⎡Tx⎤ −1
v= M ⎢ ⎥−A
( ψ ) vc
⎣Ty⎦ linear acc. of body
c5
: p= A( ψ ) v+ vc
geographical position
c6: −1
ψ = I N angular acc. of body
d1
:
d
v= v
dt
differential
d2
:
d
p= p
dt
differential
d3
:
d d
ψ = ( ψ)
dt dt
double differention
Mogens Blanke – Spring 2006
Mogens Blanke – Spring 2006
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