Chapter 3 - Dynamics of Marine Vessels

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38 3.5.3 Longitudinal and Lateral Models Starboard-port symmetry implies the following zero elements: 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 The longitudinal and lateral submatrices are: M long m11 m13 m15 m31 m33 m35 m51 m53 m55 , M lat m22 m24 m26 m42 m44 m46 m62 m64 m66 Ivar Ihle – TTK4190 Spring 2006
39 3.5.3 Longitudinal and Lateral Models Longitudinal Subsystem (DOFs 1, 3, 5) J R b n Θ TΘΘ R b n Θ 033 033 TΘΘ cc −sc css ss ccs sc cc sss −cs ssc −s cs cc 1 st ct 0 c −s 0 s/c c/c Resulting kinematic equation: ḋ ̇ cos 0 0 1 v, p, r, are small w q − sin 0 not controlling the N-position using speed control instead u 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 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: 37 3.5.3 Longitudinal and Lateral M
Page 41 and 42: 41 3.5.3 Longitudinal and Lateral M

Chapter 3 - Dynamics of Marine Vessels

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