Chapter 3 - Dynamics of Marine Vessels

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20 3.3.2 Linearized Equations <strong>of</strong> Motion Definition (Vessel Parallel Coordinate System) The vessel parallel coordinate system is defined as: where p is the NED position/attitude decomposed in body coordinates and P is given by Notice that P T P = I 6×6 . NED y n xn p P P R 033 033 I33 p BODY y b x b Ivar Ihle – TTK4190 Spring 2006
21 3.3.2 Linearized Equations <strong>of</strong> Motion Low Speed Applications (Station-Keeping) Vessel parallel (VP) coordinates implies: ̇ p Ṗ P ̇ Ṗ P p P P rS p where and r ̇ S 0 1 0 0 0 0 −1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 For low speed applications r ≈ 0. This gives a linear model: ̇ p ≈ Ivar Ihle – TTK4190 Spring 2006
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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 and 10: 9 3.2.4 Ballast Systems Automatic P
Page 11 and 12: 11 3.2.4 Ballast Systems Feedback c
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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: 19 3.3.2 Linearized Equations of Mo
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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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