Chapter 3 - Dynamics of Marine Vessels
Chapter 3 - Dynamics of Marine Vessels Chapter 3 - Dynamics of Marine Vessels
30 3.5.1 3 DOF Horizontal Motion Resulting Low-Speed (DP) Model: ̇ R Ṁ D where Bu M = M B is the control matrix describing the thruster configuration and u is the control input. T >0 and D = DT >0 Nonlinear Maneuvering Model: At higher speeds the assumptions that D D Dn≈ D and C≈ 0 are violated This suggests the following 3 DOF nonlinear maneuvering model: ̇ R Ṁ C D Ivar Ihle – TTK4190 Spring 2006
31 3.5.2 Decoupled Models for Forward Speed/Maneuvering For vessels moving at constant (or at least slowly-varying) forward speed: U u 2 v 2 ≈ u the 3 DOF maneuvering model can be decoupled in a: Forward speed (surge subsystem) Sway-yaw subsystem for maneuvering Forward Speed Model Starboard-port symmetry implies that surge is decoupled from sway and yaw: m − Xu̇ u̇ − Xuu − X|u|u|u|u 1 where 1 is the sum of control forces in surge. Notice that both linear and quadratic damping have been included in order to cover low- and high-speed applications. 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 and 10: 9 3.2.4 Ballast Systems Automatic P
- Page 11 and 12: 11 3.2.4 Ballast Systems Feedback c
- 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 21 and 22: 21 3.3.2 Linearized Equations of Mo
- Page 23 and 24: 23 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: 29 3.5.1 3 DOF Horizontal Motion Fo
- Page 33 and 34: 33 3.5.2 Decoupled Models for Forwa
- Page 35 and 36: 35 3.5.2 Decoupled Models for Forwa
- Page 37 and 38: 37 3.5.3 Longitudinal and Lateral M
- Page 39 and 40: 39 3.5.3 Longitudinal and Lateral M
- Page 41 and 42: 41 3.5.3 Longitudinal and Lateral M
- Page 43 and 44: 43 3.5.3 Longitudinal and Lateral M
- Page 45 and 46: 45 3.5.3 Longitudinal and Lateral M
- Page 47 and 48: 47 3.5.3 Longitudinal and Lateral M
30<br />
3.5.1 3 DOF Horizontal Motion<br />
Resulting Low-Speed (DP) Model:<br />
̇ R<br />
Ṁ D <br />
where<br />
Bu<br />
M = M<br />
B is the control matrix describing the thruster configuration and u is the control input.<br />
T >0 and D = DT >0<br />
Nonlinear Maneuvering Model:<br />
At higher speeds the assumptions that D D Dn≈ D and C≈ 0 are violated<br />
This suggests the following 3 DOF nonlinear maneuvering model:<br />
̇ R<br />
Ṁ C D <br />
Ivar Ihle – TTK4190 Spring 2006
Change language