Chapter 3 - Dynamics of Marine Vessels

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10 3.2.4 Ballast Systems Example (Semi-Submersible Ballast Control, Continues): The water flow model corresponding to the figure is: V̇ 1 −p1 V̇ 2 −p3 V̇ 3 p2 p3 V̇ 4 p1 − p2 Tṗ p satp d V1 V2 V3 V4 ̇ Lp , p p1 p2 p3 , L −1 0 0 0 0 −1 0 1 1 1 −1 0 p 1 + V 1 P P V 4 O y b P P x b p 2 + + V 2 P P V 3 p 3 Ivar Ihle – TTK4190 Spring 2006
11 3.2.4 Ballast Systems Feedback control system: p d HpidsG r d r − r Hpids diagh1,pids, h2,pids,...,hm,pids ballast controller G r r ηd - p d sat( . ) - T -1 Closed-loop pump dynamics with water volume as output <strong>Dynamics</strong>: p Tṗ p satp d ̇ Lp L υ r go ( υ) ( G ) r -1 Steady-state relationship for water volume and trim G r r g o r w r η r Equilibrium equation: Ivar Ihle – TTK4190 Spring 2006
Page 1 and 2: 1 Chapter 3 - Dynamics of Marine Ve
Page 3 and 4: 3 3.2.4 Ballast Systems Consider a
Page 5 and 6: 5 3.2.4 Ballast Systems Conditions
Page 7 and 8: 7 3.2.4 Ballast Systems Example (Se
Page 9: 9 3.2.4 Ballast Systems Automatic P
Page 13 and 14: 13 3.2.4 Ballast Systems Ivar Ihle
Page 15 and 16: 15 3.3 6 DOF Equations of Motion Bo
Page 17 and 18: 17 3.3.1 Nonlinear Equations of Mot
Page 19 and 20: 19 3.3.2 Linearized Equations of Mo
Page 25 and 26: 25 3.5 Standard Models for Marine V
Page 27 and 28: 27 3.5.1 3 DOF Horizontal Motion Lo
Page 29 and 30: 29 3.5.1 3 DOF Horizontal Motion Fo
Page 31 and 32: 31 3.5.2 Decoupled Models for Forwa
Page 37 and 38: 37 3.5.3 Longitudinal and Lateral M

Chapter 3 - Dynamics of Marine Vessels

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