Chapter 3 - Dynamics of Marine Vessels

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4 3.2.4 Ballast Systems Ballast tanks location with respect to O: Restoring moments due to the heave force Z ballast : m r f x y z Resulting ballast model: 0 0 Zballast g o 0 0 Zballast Kballast Mballast 0 yZ ballast −xZballast 0 g r i b xi, yi, zi , i 1, … , n 0 0 n ∑ Vi i1 n ∑ yi Vi i1 n −∑ xiVi i1 0 Kballast g∑ i1 Mballast −g∑ i1 Ivar Ihle – TTK4190 Spring 2006 n n yiVi xiVi
5 3.2.4 Ballast Systems Conditions for Manual Pretrimming Trimming is usually done under the assumptions that d and d are small such: Reduced order system (heave, roll, and pitch): G r g d ≈ G d −Zz 0 −Z 0 −K 0 −Mz 0 −M Steady-state condition: −Zz 0 −Z 0 −K 0 −Mz 0 −M g o r g G r d r go r w r zd d d n ∑ Vi i1 n ∑ yiVi i1 n −∑ xiVi i1 n g∑ Vi w3 i1 n g∑ yiVi w4 i1 n −g∑ xiVi w5 i1 d r zd, d, d w r w3,w4,w5 This is a set <strong>of</strong> linear equations where the volumes V i can be found by assuming that w i =0 (zero disturbances) Ivar Ihle – TTK4190 Spring 2006
Page 1 and 2: 1 Chapter 3 - Dynamics of Marine Ve
Page 3: 3 3.2.4 Ballast Systems Consider a
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 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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