Chapter 3 - Dynamics of Marine Vessels
Chapter 3 - Dynamics of Marine Vessels
Chapter 3 - Dynamics of Marine Vessels
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42<br />
3.5.3 Longitudinal and Lateral Models<br />
Longitudinal Subsystem (DOFs 1, 3, 5)<br />
<br />
m − Xu̇ −Xẇ mzg − Xq̇<br />
−Xẇ m − Zẇ −mxg − Zq̇<br />
mzg − Xq̇ −mxg − Zq̇ Iy − Mq̇<br />
0 0 0<br />
0 0 −m − Xu̇ u<br />
0 Zẇ − Xu̇ u mxgu<br />
u uo constant<br />
<br />
m − Zẇ<br />
−mxg−Zq̇<br />
−mxg−Zq̇<br />
Iy−Mq̇<br />
0 −m − X u̇ u o<br />
Z ẇ −Xu̇ u o<br />
mxguo<br />
ẇ<br />
q̇<br />
<br />
w<br />
q<br />
u<br />
w<br />
q<br />
u̇<br />
ẇ<br />
q̇<br />
<br />
<br />
−Zw −Zq<br />
−Mw −Mq<br />
<br />
−Xu −Xw −Xq<br />
−Zu −Zw −Zq<br />
−Mu −Mw −Mq<br />
0<br />
0<br />
WBGz sin<br />
0<br />
BGzWsin <br />
w<br />
q<br />
<br />
<br />
3<br />
5<br />
1<br />
3<br />
5<br />
u<br />
w<br />
q<br />
Ivar Ihle – TTK4190 Spring 2006
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