Chapter 3 - Dynamics of Marine Vessels

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36 3.5.3 Longitudinal and Lateral Models The 6 DOF equations of motion can in many cases be divided into two noninteracting (or lightly interacting) subsystems: Longitudinal subsystem: states u,w,q, and Lateral subsystem: states v,p,r, and This decomposition is good for slender bodies (large length/width ratio). Typical applications are aircraft, missiles, and submarines. Ivar Ihle – TTK4190 Spring 2006
37 3.5.3 Longitudinal and Lateral Models M M m11 m12 0 0 0 m16 m21 m22 0 0 0 m26 0 0 m33 m34 m35 0 0 0 m43 m44 m45 0 0 0 m53 m54 m55 0 m61 m62 0 0 0 m66 xy-plane of symmetry (bottom/top symmetry): m11 0 0 0 m15 0 0 m22 0 m24 0 0 0 0 m33 0 0 0 0 m42 0 m44 0 0 m51 0 0 0 m55 0 0 0 0 0 0 m66 yz-plane of symmetry (fore/aft symmetry) M m11 0 m13 0 m15 0 0 m22 0 m24 0 m26 m31 0 m33 0 m35 0 0 m42 0 m44 0 m46 m51 0 m53 0 m55 0 0 m62 0 m64 0 m66 xz-plane of symmetry (port/starboard symmetry) M diagm11,m 22,m 33,m 44,m 55,m 66 xz-, yz- and xy-planes of symmetry (port/starboard, fore/aft and bottom/top symmetries). 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
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 33 and 34: 33 3.5.2 Decoupled Models for Forwa
Page 35: 35 3.5.2 Decoupled Models for Forwa
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Chapter 3 - Dynamics of Marine Vessels

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