Chapter 7 - Models For Ships, Offshore Structures and Underwater Vehicles

1
TTK 4190 Guidance and Control (T. I. Fossen)

Chapter 7 - Models for Ships, Offshore
Structures and Underwater Vehicles
Thischapterpresentshydrodynamicmodelsforships,offshorestructuresandunderwater
vehicles.
Thefoundationforthemodelsarethekinematicequations(Chapter2),rigidbodykinetics
(Chapter3),hydrostatics(Chapter4),seakeeping theory(Chapter5)andmaneuvering
theory(Chapter6).
Themodelsareallexpressedinavectorial settingforeffectivecomputersimulationandto
simplifycontroldesign.Focusismadetowardspreservationofmatrixpropertiessuchas
symmetry,skewsymmetry,positivedefinitenessandorthogonality whicharekeyelements
innonlinearcontrolandestimationtheory.
7.1ManeuveringModels(3DOF)
7.2AutopilotModelsforHeadingControl(1DOF)
7.3DPModels(3DOF)
7.4ManeuveringModelsincludingRoll(4DOF)
7.5EquationsofMotion(6DOF)
2
Thehorizontalmotionsofashiporsemi
submersiblearedescribedbythemotion
componentsinsurge,sway,andyaw.
Thisimpliesthatthedynamicsassociatedwith
themotioninheave,roll andpitch are
neglected,thatisw=p=q=0.
7.1 Maneuvering Models (3 DOF)
|u,v,r]
RigidBodyDynamics HorizontalPlaneModelsforManeuvering
M
RB
C
RB
()
RB

RB

hyd

hs

wind

wave

|N,E,]
hyd
M
A
C
A
(
r
)
r
D(
r
)
r
N(
r
)
r
: C
A
(
r
)
r
D(
r
)
r
3
Considerthe6DOFkinematicexpressions:
Forsmallrollandpitchanglesandnoheavethisreducesto:
R
b
n
()
cc0 sc cs0s ss ccs0
sc0 cc ss0s cs s0sc
s0 c0s c0c
T
()
1 st0 ct0
0 c s
0 s/c0 c/c0
J()
R
b
n
() 0
33
0
33
T
()
J
3DOF
R)
cos sin 0
sin cos 0
0 0 1
Copyright Bjarne Stenberg/NTNU
4
M
RB

m 0 0 0 mz
g
my
g
0 m 0 mz
g
0 mx
g
0 0 m my
g
mx
g
0
0 mz
g
my
g
I
x
I
xy
I
xz
mz
g
0 mx
g
I
yx
I
y
I
yz
my
g
mx
g
0 I
zx
I
zy
I
z
M
A

X
u
X
v
X
w
X
p
X
q
X
r
Y
u
Y
v
Y
w
Y
p
Y
q
Y
r
Z
u
Z
v
Z
w
Z
p
Z
q
Z
r
K
u
K
v
K
w
K
p
K
q
K
r
M
u
M
v
M
w
M
p
M
q
M
r
N
u
N
v
N
w
N
p
N
q
N
r
M
RB

m 0 0
0 m mx
g
0 mx
g
I
z
C
RB
()
0 0 m(x
g
r v)
0 0 mu
m(x
g
r v) mu 0
M
A

X
u
0 0
0 Y
v
Y
r
0 Y
r
N
r
C
A
()
0 0 Y
v
v Y
r
r
0 0 X
u
u
Y
v
v Y
r
r X
u
u 0
X
X
X
X X
X
Assumethattheshiphashomogeneousmassdistribution,xzplanesymmetryandy
g
=0
5
R()
M C
RB
() N(
r
)
r

wind

wave
N(
r
)
r
: C
A
(
r
)
r
D(
r
)
r
J()
3DOF
R()
cos sin 0
sin cos 0
0 0 1
M
A

X
u
0 0
0 Y
v
Y
r
0 Y
r
N
r
C
A
()
0 0 Y
v
v Y
r
r
0 0 X
u
u
Y
v
v Y
r
r X
u
u 0
ResultingModel
M
RB

m 0 0
0 m mx
g
0 mx
g
I
z
C
RB
()
0 0 m(x
g
r v)
0 0 mu
m(x
g
r v) mu 0
M
m X
u
0 0
0 m Y
v
mx
g
Y
r
0 mx
g
Y
r
I
z
N
r
6
DynamicPositioningModels
3Dpotentialtheory
2Dpotentialtheory(striptheory)
0 1.5m/s(3knots)
.
..
Speed
Stationkeeping
Lowspeed
maneuvering
Maneuvering at
moderatespeed(transit)
Maneuvering Models
2Dpotentialtheory(striptheory)uptoFroude
numbers of030.4
2.5Dpotentialtheoryforhighspeedcraft
Lg U 3 . 0 =
Maneuvering athigh
speed(highspeed craft)
SpeedRegimes HydrodynamicMethods(seeChapters5and6)
7
-8 -6 -4 -2 0 2 4 6 8
-8
-6
-4
-2
0
2
4
6
8
Linear and quadratic damping and their regimes
u (m/s)
linear damping: 0.5u*exp(-0.5u*u)
quadratic damping: 0.05|u|u
linear + quadratic damping
Dynamic positioning
|u| < 2 m/s
Thefigureillustratesthesignificanceoflinearandquadratic
dampingforlowspeedandhighspeedapplications.
DynamicPositioning(stationkeeping
andlowspeedmaneuvering):
Lineardampingdominates
Maneuvering (highspeed):
Nonlineardampingdominates
SpeedRegimes LinearandNonlinearDamping
8
7.1.1 Nonlinear Maneuvering Models based on
Surge Resistance and Cross-Flow Drag
Expandingthe3DOFNmatrix into:
AddedmassCorioliscentripetalterms+lineardamping+ nonlineardamping
N(
r
)
r
C
A
(
r
)
r
D(
r
)
r
C
A
(
r
)
r
D
r
d(
r
)
C
A
(
r
)
0 0 Y
v
v
r
Y
r
r
0 0 X
u
u
r
Y
v
v
r
Y
r
r X
u
u
r
0
D
X
u
0 0
0 Y
v
Y
r
0 N
r
N
r
d(
r
)
1
2
S(1 k)C
f
new
(u
r
)|u
r
|u
r
1
2
L
pp
/2
L
pp
/2
T(x)C
d
2D
(x)|v
r
xr|(v
r
xr)dx
1
2
L
pp
/2
L
pp
/2
T(x)C
d
2D
(x)x|v
r
xr|(v
r
xr)dx
ITTCsurgeresistance
+ crossflowdrag
Lineardamping
AddedmassCoriolis
centripetalmatrix
9
N(
r
)
r
C
A
(
r
)
r
D(
r
)
r
Y
v
v
r
r Y
r
r
2
X
u
u
r
r
(Y
v
X
u
)u
r
v
r
Y
r
u
r
r
alternatively:
X
vr
v
r
r X
rr
r
2
Y
ur
u
r
r
N
uv
u
r
v
r
N
ur
u
r
r
X
|u|u
|u
r
|u
r
Y
|v|v
|v
r
|v
r
Y
|v|r
|v
r
|r Y
v|r|
v
r
|r|Y
|r|r
|r|r|
N
|v|v
|v
r
|v
r
N
|v|r
|v
r
|r N
v|r|
v
r
|r|N
|r|r
|r|r|
7.1.2 Nonlinear Maneuvering Models based
on 2nd-order Modulus Functions
Theideaofusing2ndordermodulusfunctionstodescribethenonlineartermsintheNmatrix datesback
toFedyaevsky andSobolev (1963).Thisismotivatedbyfirstprinciples(quadraticdrag).
AsimplifiedformofNorrbin's (1970)nonlinearmodelwhichretainsthemostimportanttermsfor
steeringandpropulsionlossassignmenthasbeenproposedbyBlanke(1981).Thismodelcorrespondsto
fittingthecrossflowdragto2ndordermodulusfunctions.
10
on 2nd-order Modulus Functions
ManeuveringModelinMatrixForm
RecallthatD(
r
)=D+D
n
(
r
).Noticethatlinearpotentialdampingandskinfrictionareneglectedinthis
model(D=0)sincethenonlinearquadratictermsD
n
(
r
) dominateathigherspeeds
N(
r
)
r

X
|u|u
|u
r
|u
r
Y
v
v
r
r Y
r
r
2
X
u
u
r
r Y
|v|v
|v
r
|v
r
Y
|v|r
|v
r
|r Y
v|r|
v
r
|r|Y
|r|r
|r|r|
(Y
v
X
u
)u
r
v
r
Y
r
u
r
r N
|v|v
|v
r
|v
r
N
|v|r
|v
r
|r N
v|r|
v
r
|r|N
|r|r
|r|r|
C
A
(
r
)
0 0 Y
v
v
r
Y
r
r
0 0 X
u
u
r
Y
v
v
r
Y
r
r X
u
u
r
0
D(
r
)
X
|u|u
|u
r
| 0 0
0 Y
|v|v
|v
r
|Y
|r|v
|r| Y
|v|r
|v
r
|Y
|r|r
|r|
0 N
|v|v
|v
r
|N
|r|v
|r| N
|v|r
|v
r
|N
|r|r
|r|
11
ExperimentaldatacanbecurvefittedtoTaylorseriesof1stand3rdorder(oddfunctions).
TheideadatesbacktoAbkowitch (1964).
Considerthenonlinearrigidbodykinetics:
on Odd Functions
M
RB
C
RB
()
RB
RB

X(x)
Y(x)
N(x)

x |u,v,r,u ,v ,r ,o]
x
o
|U,0,0,0,0,0,0]
X(x)X(x
0
)
i1
n
X(x)
x
i
x
0
x
i

1
2

2
X(x)
(x
i
)
2
x
0
x
i
2
1
6

3
X(x)
(x
i
)
3
x
0
x
i
3
Y(x)Y(x
0
)
i1
n
Y(x)
x
i
x
0
x
i

1
2

2
Y(x)
(x
i
)
2
x
0
x
i
2
1
6

3
Y(x)
(x
i
)
3
x
0
x
i
3
N(x)Z(x
0
)
i1
n
N(x)
x
i
x
0
x
i

1
2

2
N(x)
(x
i
)
2
x
0
x
i
2
1
6

3
N(x)
(x
i
)
3
x
0
x
i
3
3rdordertruncatedTaylorseriesexpansionabout
x x x
0
|x
1
,x
2
,...x
n
]
12
Unfortunately,a3rdorderTaylorseriesexpansionresultsinalargenumberofterms.By
applyingsomephysicalinsight,thecomplexityoftheseexpressionscanbereduced.
Assumptions:
1.Mostshipmaneuverscanbedescribedwitha3rdordertruncatedTaylorexpansionabout
thesteadystateconditionu=u.
2.Only1storderaccelerationtermsareconsidered.
3.Standardport/starboardsymmetrysimplificationsexcepttermsdescribingtheconstant
forceandmomentarisingfromsinglescrewpropellers.
4.Thecouplingbetweentheaccelerationandvelocitytermsisnegligible.
on Odd Functions
X X
X
u u X
u
u X
uu
u
2
X
uuu
u
3
X
vv
v
2
X
rr
r
2
X
oo
o
2
X
rvo
rvo X
ro
ro X
vo
vo X
vvu
v
2
u X
rru
r
2
u X
oou
o
2
u
X
rvu
rvu X
rou
rou X
vou
vou
Y Y
Y
u
u Y
uu
u
2
Y
r
r Y
v
v Y
r r Y
v v Y
o
o Y
rrr
r
3
Y
vvv
v
3
Y
ooo
o
3
Y
rro
r
2
o Y
oor
o
2
r Y
rrv
r
2
v Y
vvr
v
2
r Y
oov
o
2
v Y
vvo
v
2
o Y
ovr
ovr
Y
vu
vu Y
vuu
vu
2
Y
ru
ru Y
ruu
ru
2
Y
ou
ou Y
ouu
ou
2
N N
N
u
u N
uu
u
2
N
r
r N
v
v N
r r N
v v N
o
o N
rrr
r
3
N
vvv
v
3
N
ooo
o
3
N
rro
r
2
o N
oor
o
2
r N
rrv
r
2
v N
vvr
v
2
r N
oov
o
2
v N
vvo
v
2
o
N
ovr
ovr N
vu
vu N
vuu
vu
2
N
ru
ru N
ruu
ru
2
N
ou
ou
N
ouu
ou
2
F
F(x
0
)
F
x
i

F(x)
x
i
x
0
F
x
i
x
j

1
2

2
F(x)
x
i
x
j
x
0
F
x
i
x
j
x
k

1
6

3
F(x)
x
i
x
j
x
k
x
0
F X,Y,N)
13
NonlinearModelsofClarke(2003);seeClarkesLectureNotes
3
rrr
2
vrr
2
vvr
3
vvv r v
3
rrr
2
vrr
2
vvr
3
vvv r v
r N r v N
r v N v N r N v N N
r Y r v Y
r v Y v Y r Y v Y Y
' ' + ' ' ' +
' ' ' + ' ' + ' ' + ' ' = '
' ' + ' ' ' +
' ' ' + ' ' + ' ' + ' ' = '
TaylorSeriesCubicCurves
ForasymmetricshiphydrodynamicforceY' andmomentN' canbemodelledby1stand3rd
ordertermsusinganoddfunction
2ndorderModulusCurves
r r N r v N
r v N v v N r N v N N
r r Y r v Y
r v Y v v Y r Y v Y Y
r r r v
r v v v
r v
r r r v
r v v v
r v
' ' ' + ' ' ' +
' ' ' + ' ' ' + ' ' + ' ' = '
' ' ' + ' ' ' +
' ' ' + ' ' ' + ' ' + ' ' = '
givesa
smoothsurface
(physical)
givesaflatter
facettedsurface
(nonphysical)
Taylor Series Cubic Curves or
2nd-order Modulus Curves
14
Taylor Series Cubic Curves or
2nd-order Modulus Curves
ODD FUNCTION
TAYLOR
SERIES FIT
SECOND ORDER
MODULUS FIT
Y
'
( ) TAYLOR
v
Y
'
( ) MOD
v
Y
'
v
'
NonlinearModelsofClarke(2003); seeClarkesLectureNotes
Thisisabigproblemwhen
comparingderivatives
fromdifferent
experimentalfacilities
Weobtaindifferent
derivativevaluesfrom
cubic and2ndorder
modulus curvefit.
15
ForwardSpeedModel
Starboardportsymmetryimpliesthatsurgeisdecoupledfromswayandyaw:
wheret isthesumofcontrolforcesinsurge.
7.1.4 Linearized Maneuvering Models
LinearizedDecoupledModelsforForwardSpeedandManeuvering
Formarinecraftmovingatconstant(oratleastslowlyvarying)forward
speedthe3DOFmaneuveringmodelcanbedecoupledina:
Forwardspeed(surgesubsystem)
Swayyawsubsystemformaneuvering
2DOFLinearManeuveringModel(SwayYawSubsystem)
(m X
u
)u X
u
u
r
X
|u|u
|u
r
|u
r
t
1
U u
2
v
2
u
M N(u
o
)
r
bo
istherudderangleisbasedontheassumptionsthatthecruisespeed.
Thecurrentforcesaretreatedasalinearterm:
r
|v
r
,r]
u u
o
constant
N(u
o
)|v
c
,0]
16
|v,r]
o o
R
M N(u
0
) bo
ModelRepresentationofFossen(1994) andClarkeandHorn(1996)
Thepotentialtheoryrepresentationisobtainedbyextractingthe2ndand3rdrowsin C
RB
()andC
A
()
withu=u
o
,resultingin:
ResultingModel
M
m Y
v
mx
g
Y
r
mx
g
Y
r
I
z
N
r
b
Y
o
N
o
N(u
o
)
Y
v
(m X
u
)u
o
Y
r
(X
u
Y
v
)u
o
N
v
(mx
g
Y
r
)u
o
N
r
C()
(m X
u
)u
o
r
(m Y
v
)u
o
v (mx
g
Y
r
)u
o
r (m X
u
)u
o
v
0 (m X
u
)u
o
(X
u
Y
v
)u
o
(mx
g
Y
r
)u
o
v
r
D
Y
v
Y
r
N
v
N
r
bo
Y
o
N
o
o
Notice: C(v)includesthefamousdestabilizing
Munk moment(fromaerodynamics)andsomeotherC
A
terms
17
M
RB
C
RB
(u
0
)
RB
|v,r]
o o
R
M N(u
0
) bo M
m Y
v
mx
g
Y
r
mx
g
N
v
I
z
N
r
, b
Y
o
N
o
N(u
0
) C(u
0
) D
Y
v
mu
0
Y
r
N
v
mx
g
u
0
N
r

ResultingModel
Comment:ModelRepresentationofDavidsonandSchiff(1946)
Thismodelassumesthatthehydrodynamicforces
RB
arelinearinand
(linearstriptheory)suchthat:
NB!ThisrepresentationmisstheC
A
terms(seeredcirclesonpreviousslide)
RB

Y
o
N
o
b
o
Y
v
Y
r
N
v
N
r
M
A

Y
v
Y
r
N
v
N
r
D
r
o,

18
7.2 Autopilot Models for Heading
Control (1 DOF)
1DOFAutopilotModel(YawSubsystem)
M N(u
o
)
r
bo
yawrateasoutput
r c
r
, c
|0,1]
ApplicationoftheLaplacetransformationyields(Nomoto,1957)
r
o
(s)
K(1 T
3
s)
(1 T
1
s)(1 T
2
s)
Nomoto's 2ndordermodel
r
o
(s)
K
(1 Ts)
Nomoto's 1stordermodel
T T
1
T
2
T
3
o
(s)
K
s(1 Ts)
r
Equivalenttimeconstant
The celebrated
autopilotmodel
v
o
(s)
K
v
(1T
v
s)
(1T
1
s)(1T
2
s)
19
L (m) u
0
(m/s) (dwt) K(1/s) T
1
(s) T
2
(s) T
3
(s)
cargoship 161 7.7 16622 0.185 118.0 7.8 18.5
Oil tanker 350 8.1 389100 0.019 124.1 16.4 46.0
Matlab MSStoolbox
T1=118;
T2=7.8;
T3=18.5;
K=0.185;
nomoto(T1,T2,T3,K)
T1=124.1;
T2=16.4;
T3=46.0;
K=0.019;
nomoto(T1,T2,T3,K)
BodeplotsoftheNomoto
1st and2ndordermodels
10
-4
10
-3
10
-2
10
-1
10
0
10
1
-100
0
100
G
a
i
n
[
d
B
]
1st-order
2nd-order
10
-4
10
-3
10
-2
10
-1
10
0
10
1
-200
-150
-100
-50
P
h
a
s
e
[
d
e
g
]
10
-4
10
-3
10
-2
10
-1
10
0
10
1
-200
-100
0
100
G
a
i
n
[
d
B
]
10
-4
10
-3
10
-2
10
-1
10
0
10
1
-300
-250
-200
-150
P
h
a
s
e
[
d
e
g
]
Frequency [rad/s]
Mariner class cargo ship
course stable ship
course unstable ship
Oil tanker
7.2.1-7.2.2 Autopilot Models for
Heading Control (1 DOF)
20
7.2.3 Nonlinear Extensions of
Nomotos Model
ThelinearNomoto modelscanbeextendedtoincludenonlineareffectsbyadding
staticnonlinearities referredtoasmaneuveringcharacteristics.
NonlinearExtensionofNomoto's 1stOrderModel(Norrbin,1963)
Tr H
N
(r) Ko
H
N
(r) n
3
r
3
n
2
r
2
n
1
r n
0
whereH
N
(r) isanonlinearfunctiondescribingthemaneuveringcharacteristics.
ForH
N
(r)=r,thelinearmodelisobtained.
NonlinearExtensionofNomoto's 2ndorderModel(Bech &WagnerSmith,1969)
T
1
T
2
r (T
1
T
2
)r KH
B
(r) K(o T
3
o
)
H
B
(r) b
3
r
3
b
2
r
2
b
1
r b
0
whereH
B
(r) canbefoundfromBech's reversespiralmaneuver.Thelinearequivalentis
obtainedforH
B
(r)=r
21
7.2.3 Nonlinear Extensions of
Nomotos Model
-20 -15 -10 -5 0 5 10 15 20
-2
-1
0
1
2
course stable ship
linear (K>0)
nonlinear
-20 -15 -10 -5 0 5 10 15 20
-2
-1
0
1
2
course unstable ship
linear (K<0)
nonlinear
r (deg/s)
r (deg/s)
o (deg)
o (deg)
Bech spiral
Dieudonne spiral (hysteresis)
Bech and Dieudonne spirals
LinearandNonlinearManeuveringCharacteristics
Themaneuvering
characteristicsarefound
bysolvingfor r asa
functionofo,usingthe
steadystatesolutionsof
thenonlinearNomoto
models:
H
N
(r) Ko
H
B
(r) o
22
7.2.4 Pivot Point (Yaw Rotation Point)
Definition7.1(PivotPoint) Aship'spivotpointx
p
isapointonthecenterlinemeasuredfrom
theCGaboutwhichtheshipturns.Consequently,ithasnosidewaysmovement(Tzeng 1998)
x
p
(t)
v
g/n
(t)
r(t)
, r(t) 0
Whenturningashipitisimportanttoknowwhichpointtheshipturnsabout.
Thisrotationpointinyawisreferredtoasthepivotpoint.
Thepivotpointforaturningshipcanbecomputedbymeasuringthevelocityv
g/n
(t)inCG
andtheturningrater(t):
v
p/n
v
g/n
x
p
r 0
Thisexpressionisnotdefinedforazeroyawratecorrespondingtoastraightlinemotion.
Thismeansthatthepivotpointislocatedatinfinitywhenmovingonstraightlineorina
pureswaymotion.
Itiswellknowntothepilotsthatthepivotpointofaturningshipis
locatedatabout1/51/4shiplengthaftofbow
X
23
Y
v
1160- 10
5
N
v
264- 10
5
Y
r
499- 10
5
N
r
166- 10
5
Y
o
278- 10
5
N
o
139- 10
5
7.2.4 Pivot Point (Yaw Rotation Point)
x
p
(t)
v
g/n
(t)
r(t)
, r(t) 0
Linearized maneuvering equation (steady-state Nomoto model):
AP FP Bow CG CO
=0.4923
0.023
0.5
0.03
Pivot
point
v
r

K
v
(1 T
v
s)
K(1 T
3
s)
s0
K
v
K
r
o
(s)
K(1 T
3
s)
(1 T
1
s)(1 T
2
s)
v
o
(s)
K
v
(1T
v
s)
(1T
1
s)(1T
2
s)
x
p(s,s)

K
v
K

x
p(s,s)

N
r
Y
o
(Y
r
mu
0
)N
o
Y
v
N
o
N
v
Y
o
Location of the pivot point:
Example: The Mariner Class vessel where
the nondimensional linear maneuvering
coefficients are given as:
x
p(s,s)
0.4923L
pp
24
Whendesigningcourseautopilotsitisoftenconvenienttonormalizetheshipsteering
equationsofmotionsuchthatthemodelparameterscanbetreatedasconstantswith
respecttotheinstantaneousspeedU definedby:
Themostcommonlyusednormalizationformsformarinecraftare:
Primesystem(SNAME1950)
Thissystemusestheship'sinstantaneousspeedU,thelengthL=L
pp
(thelength
betweentheforeandaftperpendiculars),thetimeunitL/U,andthemassunit
LorLT asnormalizationvariables.Theprimesystemcannotbeusedfor
lowspeedapplicationslikeDP,sincenormalizationofthespeedsu,v,w implies
dividingbythecruisespeedU,whichcanbezero.
Bissystem(Norrbin 1970)
Thissystemcanbeusedforzerospeed sincedivisionofspeedU isavoided.The
BissystemisbasedontheuseofthelengthL=L
pp
,thetimeunit(L/g)suchthat
speedbecomes(Lg)>0.Italsousesthebodymassdensityratio=m/,wherem
isthemassunitandisthedisplacement.
7.2.5 Nondimensional Maneuvering and
Autopilot Models
U u
2
v
2
V
25
Unit Prime-systemI Prime-systemII Bis-system
Length L L L
Mass
1
2
L
3 1
2
L
2
T j
Inertiamoment
1
2
L
5 1
2
L
4
T jL
2
Time
L
U
L
U
L/g
Referencearea L
2
LT j
2
L
Position L L L
Angle 1 1 1
Linear velocity U U Lg
Angular velocity
U
L
U
L
g/L
Linear acceleration
U
2
L
U
2
L
g
Angular acceleration
U
2
L
2
U
2
L
2
g
L
Force
1
2
U
2
L
2 1
2
U
2
LT jg
Moment
1
2
U
2
L
3 1
2
U
2
L
2
T jgL
Bodymassdensityratio:
<1:ROVs,AUVs,
submarines,etc.
=1 :Floatingships/rigs
andneutrallybuoyant
underwatervehicles,that
is:
>1:Heavytorpedoes
(typicallym=1.31.5)
V
=
m
Notation: x x x
NormalizationTable
Autopilot Models
m
26
Example7.3(NormalizationofParameters) Thehydrodynamiccoefficient Y
r
canbemade
nondimensional byusingthePrime andBissystems.
First,letusdeterminethedimensionofY
r
.Consider:
Y Y
r
r
N=kgm/s
Swayforce(N):
rad/s
?
Hence,theunknowndimensionmustbekgm/s sinceradisanondimensional unit.
Thenondimensional valuesY
r
andY
r
arefoundbyusingkg,m ands intheConversionTable.
Consequently:
Y
r

Y
r
|
1
2
L
3
]|L]
|L/U]
1
1
2
L
3
U
Y
r
Y
r

Y
r
|j]|L]
L/g
1
j Lg
Y
r
Prime
Bis
j 1and m Y
r

1
m Lg
Y
r
floatingship
Autopilot Models
27
Autopilot Models
Example7.4(NormalizationofStatesandParameters)
Consideralinearizedmaneuveringmodel.PrimeNormalization gives:
M
(u
0
|v
, r
Y
v
x
g
Y
r
x
g
N
v
I
z
N
r
, b

Y
o
N
o
(u
0
)
Y
v
u
0
Y
r
N
v
x
g
u
0
N
r
u
0

u
0
U
1, for u 0and v 0
v Uv
, r
U
L
r
, o o
where
Thenondimensional velocitiesandcontrolinputcanbetransformedtoitsdimensional
valuesbyusingtheConversionTable:
28
6DOFNormalizationProcedure
Asystematicprocedurefor6DOFnormalizationisfoundbydefiningthetransformation
matrix:
Tdiag1,1, 1,
1
L
,
1
L
,
1
L
), T
1
diag1, 1,1, L,L, L)
Prime-system Bis-system
acceleration
U
2
L
T
gT
velocity U T
Lg T
position/attitude LT
LT
control forces/moments
1
2
U
2
L
2
T
1
jg T
1
Generalized acceleration,velocity,positionandforce arethenfoundfrom:

Autopilot Models
29
1
2
L
3
T
2
(TM
T
1
)
1
2
L
3
(
U
L
) T
2
(TD
T
1

1
2
L
3
(
U
L
)
2
T
2
(TG
T
1
)
Autopilot Models
AgainconsiderthenondimensionalMIMOmodel:
M
Whendesigningvesselsimulatorsandgainscheduledcontrollersitisconvenienttoperform
thenumericalintegrationinrealtimeusing dimensionaltime.
Itisconvenienttousethenondimensional hydrodynamiccoefficients asinputtothe
simulator/controller,whilethestatesandinputs havetheir physicaldimensions.
M
L
U
2
T
1
D
1
U
T
1
G
(
1
L
T
1
)
1
1
2
U
2
L
2
T
(TM
T
1
) (
U
L
) (TD
T
1
) (
U
L
)
2
(TG
T
1
)
1
1
2
L
3
T
2
M D G
6DOF
normalization
procedure

30
jT
2
(TM
T
1
) j
g
L
T
2
(TD
T
1
) j
g
L
T
2
(TG
T
1
)
7.2.5 Nondimensional Maneuvering
Autopilot Models
6DOFBisScaling
M
(TM
T
1
)
g
L
(TD
T
1
)
g
L
(TG
T
1
)
1
j
T
2
nondimensional states/inputs
nondimensional parameters
dimensional states/inputs
nondimensional parameters
Transformingnondimensional states/inputstodimension:
Resultingmodel:
M D G
31
Autopilot Models
Example7.5(NormalizationofParameterswhilekeepingtheActualStates)
Considertheautopilotmodel:
M
(u
0
(TM
T
1
)
U
L
(TN
(u
0
)T
1
)
U
2
L
Tb
o
T diag1, 1/L
m
11
Lm
12
1
L
m
21
m
22
v
r

U
L
n
11
Ln
12
1
L
n
21
n
22
v
r

U
2
L
b
1
1
L
b
2
o
o o
Transformingthestatesandcontrolinputtodimensionalquantities,yields:
Componentform:
|v
, r
actualstates(dimension)
32
Autopilot Models
Example7.6(NormalizationProcedurefortheNomoto TimeandGainConstants)
ThegainandtimeconstantsinNomoto's 1st and2ndordermodels canbemadeinvariant
withrespecttoL andU bydefining:
K
(L/U)K, T
(U/L) T
(L/U)T
r r (U/L)K
o
r (
U
L
)
1
T
r (
U
L
)
2
K
o
(L/U)
2
T
1
T
2

(3)
(L/U)(T
1
T
2
) (U/L) K
o K
T
3
Thisrepresentationisquiteusefulsincethenondimensional gainandtimeconstants
willtypicallybeintherange:0.5<K<2and0.5<T<2formostships.Anextension
toNomoto's 2ndordermodelisobtainedbywriting:
wherethenondimensional timeandgainconstantsaredefinedas:
T
i
=T
i
(U/L)(i=1,2,3)
K=(L/U)K
33
7.3.1 Nonlinear DP Model using Current
Coefficients
ForlowspeedapplicationslikeDP,currentforcesanddampingcanbedescribedbythreeareabased
currentcoefficients C
X
,C
Y
and C
N
.Thesecanbeexperimentallyobtainedusingscalemodelsinwind
tunnels.
Theresultingforcesaremeasuredonthemodelwhichisrestrainedfrommoving(U=0).Thecurrent
coefficientscanalsoberelatedtothesurgeresistance,crossflowdragandtheMunk moment.
ForashipmovingatforwardspeedU>0,quadraticdampingwillbeincludedinthecurrentcoefficients
ifrelativespeedisused.
X
current

1
2
A
Fc
C
X
(,
c
)V
c
2
Y
current

1
2
A
Lc
C
Y
(,
c
)V
c
2
N
current

1
2
A
Lc
L
oa
C
N
(,
c
)V
c
2
ZeroSpeedRepresentation
Currentdirection(counterclockwiserotation)
Frontalprojectedcurrentarea
Lateralprojectedcurrentarea
Lengthoverall
,
c
A
Fc
A
Lc
L
oa
,
c
[
c
m
u
c
V
c
cos(,
c
)
v
c
V
c
sin(,
c
)
34
Coefficients
ForwardSpeedRepresentation
Theforwardspeedrepresentation
introducesquadraticdampingusingthe
conceptofrelativevelocity.
ThisisNOT thecaseforthezerospeed
representation.
Relativespeedanddirection
X
current

1
2
A
Fc
C
X
(,
rc
)V
rc
2
Y
current

1
2
A
Lc
C
Y
(,
rc
)V
rc
2
N
current

1
2
A
Lc
L
oa
C
N
(,
rc
)V
rc
2
V
rc
u
rc
2
v
rc
2
(u u
c
)
2
(v v
c
)
2
,
rc
atan2(v
rc
,u
rc
)

u
c
V
c
cos([
c
)
v
c
V
c
sin([
c
)
35
Coefficients
RelationshipBetweenCurrentCoefficientsandSurgeResistance/CrossFlowDrag
Thecurrentcoefficientscanberelatedtothesurgeresistanceandcrossflowdrag
coefficientsbyassuminglowspeedsuchthatu0 andv0.ThisisagoodassumptionforDP.
u
r
|u
r
| u
c
|u
c
|
V
c
2
cos(,
c
)|cos(,
c
)|
v
r
|v
r
| v
c
|v
c
|
V
c
2
sin(,
c
)|sin(,
c
)|
u
r
v
r
u
c
v
c

1
2
V
c
2
sin(2,
c
)
X
current

1
2
A
Fc
C
X
(,
c
)V
c
2
: X
|u|u
|u
r
|u
r
Y
current

1
2
A
Lc
C
Y
(,
c
)V
c
2
: Y
|v|v
|v
r
|v
r
N
current

1
2
A
Lc
L
oa
C
N
(,
c
)V
c
2
: N
|v|v
|v
r
|v
r
|(Y
v
X
u
)u
r
v
r
Munk moment

u v r 0
Thisgivesthefollowinganalyticalexpressionsfortheareabasedcurrentcoefficients
similartoFaltinsen(1990),pp.187188.
C
X
(,
c
) 2
X
|u|u
A
Fc
cos(,
c
)|cos(,
c
)|
C
Y
(,
c
) 2
Y
|v|v
|
A
Lc
sin(,
c
)|sin(,
c
)|
C
N
(,
c
)
2
A
Lc
L
oa
(N
|v|v
sin(,
c
)|sin(,
c
)|
1
2
(X
u
Y
v
)
A
22
A
11
sin(2,
c
))
36
0 20 40 60 80 100 120 140 160 180
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Angle of attack
c
relative bow - counter-clockwise rotation (deg)
C
X
C
X
= -C
X,max
*cos()*abs(cos())
C
Y
C
Y
= C
Y,max
*sin()*abs(sin())
C
N
C
N
= C
N,max
*sin(2*)
Coefficients
CurrentCoefficients
Experimentalcurrentcoefficientsforatankercomparedwithanalyticalformulae
37
Coefficients
NonlinearDPmodelbasedoncurrentcoefficients
Optionalquadraticdampingcoefficientusedtocounteractthe
destabilizingMunk momentsincethecurrentcoefficientsdo
notincludedampinginyaw
R()
M C
RB
() Dexp(oV
rc
)
r
d(V
rc
,,
rc
)
wind

waves
D
X
u
0 0
0 Y
v
Y
r
0 N
v
N
r

Themodelincludesanoptionallineardampingmatrixto
ensureexponentialconvergenceatlowrelativespeed
d(V
rc
,,
cr
)

1
2
A
Fc
C
X
(,
rc
)V
rc
2
1
2
A
Lc
C
Y
(,
rc
)V
rc
2
1
2
A
Lc
L
oa
C
N
(,
rc
)V
rc
2
N
|r|r
r|r

38
7.3.2 Linearized DP Model
VesselParallelCoordinates
Thisdefinitionremovestherotationmatrixinyawunderthe
assumption thattheyawraterissmall
p
R
()
p

M D R
()b
wind

waves
b
p
R

() R
() R
()
R()
Notethat:
Thekinematicsislinear
GPSpositionmeasurementsq must
betransformedtovesselparallel
coordinatesusing
LinearizedDPModelforControllerObserverDesign
p
R
()
39
7.4 Maneuvering Models including
Roll (4 DOF)
4DOFmodelsinsurge,sway,rollandyaw
Thespeedequationcanbedecoupledfromthesway,roll,andyaw modes:
Theresultinglinearmodeltakestheform:
M Nu
o
) G
M
m Y
v
mz
g
Y
p
mx
g
Y
r
mz
g
K
v
I
x
K
p
I
xz
N
p
mx
g
N
v
I
xz
N
p
I
z
N
r
Nu
o
)
Y
v
Y
p
mu
0
Y
r
K
v
K
p
mz
g
u
0
K
r
N
v
N
p
mx
g
u
0
N
r
|v,p,r]
u
o
constant
G diag0, WGM
T
, 0)
p
cos r r
Lecture Notes TTK 4190 Guidance and Control (T. I. Fossen)
|E,,]
40
Roll (4 DOF)
3and4DOFManeuveringModels
ThemaneuveringmodelspresentedinSection7.3onlydescribethehorizontal
motions(surge,sway andyaw)underazerofrequencyassumption.Thesemodelsare
intendedforthedesignandsimulationofDPsystems,headingautopilots,trajectory
trackingandpathfollowingcontrolsystems.
Manyvessels,however,areequippedwithactuatorsthatcanreducetherolling
motion.Thiscouldbeantirollingtanks,ruddersandfinstabilizers.Inordertodesign
acontrolsystemforrolldamping,itisnecessarytoaugmenttherollequationtothe
horizontalplanemodel.Inclusionofrollmeansthattherestoringmomentdueto
buoyancyandgravitymustbeincluded.
Theresultingmodelisa4DOFmaneuveringmodel(surge,sway,roll andyaw)that
includestherollingmotion
41
Roll (4 DOF)
StateSpaceModel
Thelinearmodelcanbewritteninstatespacemodelaccordingto:
x
a
11
a
12
a
13
a
14
0
a
21
a
22
a
23
a
24
0
a
31
a
32
a
33
a
34
0
0 1 0 0 0
0 0 1 0 0
x
b
11
b
12
b
1r
b
21
b
22
b
2r
b
31
b
32
b
3r
0 0 0
0 0 0
u
a
11
a
12
a
13
a
21
a
22
a
23
a
31
a
32
a
33
M
1
Nu
o
)
a
14

a
24

a
34

M
1
G
A B
wherethematrixelementsare:
x |v,p, r,, ]
b
ij
aregivenbyB M
1
TK
TKu
Rollandyawoutputs:
|0,0,0, 1,0]x
|0,0,0, 0,1]x
42
7.4 Maneuvering Models including Roll
(4 DOF)
DecompositionsinRollandSwayYawSubsystems
Thestatevariablesassociatedwithsteeringandrollcanbeseparated:
v
r
a
11
a
13
0 a
12
a
14
a
31
a
33
0 a
32
a
34
0 1 0 0 0
a
21
a
23
0 a
22
a
24
0 0 0 1 0
v
r
b
11
b
12
b
1r
b
31
b
32
b
3r
0 0 0
b
21
b
22
b
2r
0 0 0
u
x
u
p

a
22
a
24
1 0
p

b
21
b
22
b
2r
0 0 0
u
v
r
a
11
a
13
0
a
31
a
33
0
0 1 0
v
r
b
11
b
12
b
1r
b
31
b
32
b
3r
0 0 0
u
x
|v,r,]
|p,]
Ifthecouplingmatricesaresmall,weget:
decoupledsteeringmodel
(swayyaw)
decoupledroll model
43
Roll (4 DOF)
TransferFunctionsforSteeringandRudderRollDamping
Thetransferfunctionsforthedecoupledmodelsare:
plotshowingdecoupledmodels
andtotalmodel
o
(s)
b
2
s
2
b
1
sb
0
s
4
a
3
s
3
a
2
s
2
a
1
sa
0

K
roll
o
roll
2
(1T
5
s)
(1T
4
s)(s
2
2o
roll
so
roll
2
)
o
(s)
c
3
s
3
c
2
s
2
c
1
sc
0
s(s
4
a
3
s
3
a
2
s
2
a
1
sa
0
)

K
yaw
(1T
3
s)
s(1T
1
s)(1T
2
s)
Thisisaroughapproximationsince
allinteractionsareneglected.
Inparticular,therollmodeisinaccurateas
seenfromtheplots.
MatlabMSStoolbox: ExRRD1.m
Lcontainer.m
Containership:SonandNomoto(1981)
44
Roll (4 DOF)
o
(s)
0.0032(s 0.036)(s 0.077)
(s 0.026)(s 0.116)(s
2
0.136s 0.036)
0.083(1 49.1s)
(1 31.5s)(s
2
0.134s 0.033)

o
(s)
0.0024(s 0.0436)(s
2
0.162s 0.035)
s(s 0.0261)(s 0.116)(s
2
0.136s 0.036)
0.032(1 16.9s)
s(1 24.0s)(1 9.2s)

Length:L=175(m)
Displacement:21,222(m)
Servicespeedu
0
=7.0(m/s)
o
roll
0.189(rad/s)
0.36
righthalfplanezero: z 0.036(rad/s)
nonminimum
phaseproperty
MatlabMSStoolbox: ExRRD3.m
45
7.4.1 The Nonlinear Model of Son and
Nomoto
Highspeedcontainershipgivenby:
(m m
x
)u (m m
y
)vr X t
x
(m m
y
)v (m m
x
)ur m
y
o
y
r m
y
l
y
p Y t
y
(I
x
J
x
)p m
y
l
y
v m
x
l
x
ur K WGM
T
t
k
(I
z
J
z
)r m
y
o
y
v N x
g
Y t
n
X X(u) (1 t)T X
vr
vr X
vv
v
2
X
rr
r
2
X
2
X
o
sino X
ext
Y Y
v
v Y
r
r Y
Y
p
p Y
vvv
v
3
Y
rrr
r
3
Y
vvr
v
2
r Y
vrr
vr
2
Y
vv
v
2
Y
v
v
2
Y
rr
r
2
Y
r
r
2
Y
o
coso Y
ext
K K
v
v K
r
r K
K
p
p K
vvv
v
3
K
rrr
r
3
K
vvr
v
2
r K
vrr
vr
2
K
vv
v
2
K
v
v
2
K
rr
r
2
K
r
r
2
K
o
coso K
ext
N N
v
v N
r
r N
N
p
p N
vvv
v
3
N
rrr
r
3
N
vvr
v
2
r N
vrr
vr
2
N
vv
v
2
N
v
v
2
N
rr
r
2
N
r
r
2
N
o
coso N
ext
MatlabMSStoolbox:
container.m (nonlinearmodel)
Lcontainer.m (linearmodel)
[xdot,U]=container(x,ui)
[xdot,U]=Lcontainer(x,ui,U0)
3rdorder
Taylorseries
expansion
46
7.4.2 The Nonlinear Model of Blanke and
Christensen
Analternativemodelformulationdescribingthesteeringandrollmotionsofshipshasbeen
proposedbyBlanke andChristensen(1986):
m Y
v
mz
g
Y
p
mx
g
Y
r
0 0
mz
g
K
v
I
x
K
p
0 0 0
mx
g
N
v
0 I
z
N
r
0 0
0 0 0 1 0
0 0 0 0 1
v
p
r
Y
uv
|u| Y
|u|p
|u| mu Y
ur
u Y
uu
u
2
0
K
|u|v
|u| K
up
u K
p
K
ur
u WGM
T
K
uu
u
2
0
N
uv
u 0 N
|u|r
|u|mx
g
u N
|u|u
|u|u 0
0 1 0 0 0
0 0 1 0 0
v
p
r
Y
ext
K
ext
N
ext
0
0

2
nd
order
modulus
model
47
7.4.3 Nonlinear Model based on Low
Aspect Ratio Wing Theory
Thisapproachiswellsuitedtoderiveaphysicalmodelstructurewhichcanbestdescribe
thenonlineardampingforcesactingonamarinecraft.Theparametersofthemodelmust,
however,befoundbycurvefittingthesimulatedresponsetotimeseriesforinstanceby
usingsystemidentification.
Liftanddrag
duetolow
aspectratio
wingtheory
X
LD
X
uu
L
u
2
X
uuu
L
u
3
X
vv
L
v
2
X
rr
L
r
2
X
rv
L
rv X
uvv
L
uv
2
X
rvu
L
rvu X
urr
L
ur
2
X
vv
L
v
2
2
X
vr
L
vr
2
X
rr
L
r
2
2
X
LD
Y
LD
Y
uv
L
uv Y
ur
L
ur Y
uur
L
u
2
r Y
uuv
L
u
2
v Y
vvv
L
v
3
Y
rrr
L
r
3
Y
rrv
L
r
2
v Y
vvr
L
v
2
r Y
uv
L
uv
2
Y
ur
L
ur
2
Y
LD
K
LD
Y
LD
z
cp
K
uv
L
uv K
ur
L
ur K
uur
L
u
2
r K
uuv
L
u
2
v K
vvv
L
v
3
K
rrr
L
r
3
K
rrv
L
r
2
v K
vvr
L
v
2
r K
uv
L
uv
2
K
ur
L
ur
2
N
LD
Y
LD
x
cp
N
uv
L
uv N
ur
L
ur N
uur
L
u
2
r N
uuv
L
u
2
v N
vvv
L
v
3
N
rrr
L
r
3
N
rrv
L
r
2
v N
vvr
L
v
2
r N
uv
L
uv
2
N
ur
L
ur
2
48
D()
X
uu
L
u X
uuu
L
u
2
X
rvu
L
rv
X
vv
L
v X
rv
L
r
X
uvv
L
uv X
vv
L
v
2
X
vr
L
r
2
0 X
rr
L
r X
urr
L
ur X
rr
L
r
2
Y
uv
L
v
2
Y
ur
L
r
2
Y
uv
L
u Y
uuv
L
u
2
Y
vvv
L
v
2
Y
rrv
L
r
2
Y
|v|v
|v|Y
|r|v
|r|
0
Y
ur
L
u Y
uur
L
u
2
Y
rrr
L
r
2
Y
vvr
L
v
2
Y
|v|r
|v|Y
|r|r
|r|
K
uv
L
v
2
K
ur
L
r
2
K
uv
L
u K
uuv
L
u
2
K
vvv
L
v
2
K
rrv
L
r
2
K
|v|v
|v|K
|r|v
|r|
K
p
K
ppp
p
2
K
ur
L
u K
uur
L
u
2
K
rrr
L
r
2
K
vvr
L
v
2
K
|v|r
|v|K
|r|r
|r|
N
uv
L
v
2
N
ur
L
r
2
N
uv
L
u N
uuv
L
u
2
N
vvv
L
v
2
N
rrv
L
r
2
N
|v|v
|v|N
|r|v
|r|
0
N
ur
L
u N
uur
L
u
2
N
rrr
L
r
2
N
vvr
L
v
2
N
|v|r
|v|N
|r|r
|r|
Inadditiontothelowaspectratioliftanddragcomponentsitisnecessarytoinclude
crossflowdrag andviscousrolldamping.
ResultingNonlinearDampingMatrix
49
Nonlinear4DOFManeuveringModel(Surge,Sway,RollandYaw)
M C
RB
() C
A
() D() G
wind

wave
M
m X
u
0 0 0
0 m Y
v
mz
g
Y
p
mx
g
Y
r
0 mz
g
K
v
I
x
K
p
0
0 mx
g
N
v
0 I
z
N
r
,C
RB
()
0 0 mz
g
r m(x
g
r v)
0 0 0 mu
mz
g
r 0 0 0
m(x
g
r v) mu 0 0
C
A
()
0 0 0 Y
v
v
0 0 0 X
u
u
0 0 0 Y
v
v
Y
v
v X
u
u Y
v
v 0
,G
0 0 0 0
0 0 0 0
0 0 K
0
0 0 0 0

50
7.5 Equations of Motion (6 DOF)
Shipmodelsareusuallyreducedordermodelsforcontrolofthehorizontalplane
motions(surge,sway andyaw)incombinationwithroll ifrolldampingisanissue.
Semisubmersiblecontrolsystemarealsodesignedforthestabilizationofthe
horizontalplanemotionsbutforthesetypeofvesselsitisalsoofinteresttosimulate
theheave,rollandpitchmotionsduringcriticaloperationsasdrilling.
Inthissectionwewilldiscuss6DOFmodels(surge,sway,heave,roll,pitchandyaw)
whichareusefulforpredictionandsimulationofcoupledmotions.
A6DOFmodelcanbeusedinanaccuratesimulationmodelofyoursystemorevenin
amodelbasedcontrolsystemifallDOFsareactuated.
Someunderwatervehicleshaveactuation
inallDOF.
51
7.5.1 Nonlinear 6 DOF Vector
Representations in BODY and NED
EquationsofMotionExpressedinBODY
M M
RB
M
A
C() C
RB
() C
A
()
D() D D
n
()

wheredifferentrepresentationsforJ
k
() canbeused:
Eulerangles:
Unitquaternions:
J
k
()
M C() D() g() g
o

wind

wave
J
()
J
q
()
: |N,E,D,,0,]
: |N,E,D,p,c
1
,c
1
,c
1
]
52
EquationsofMotionExpressedinNEDusingEulerAngles
Kinematictransformationusing:
Euleranglesaresingularat
0 m/2
M
() C
(,) D
(,) g
() g
o

wind

waves
()
R
b
n
(
nb
) 0
33
0
33
T
(
nb
)
J
() J
1
()
J
()

J
() J
1
()|

J
()J
1
() ]
: |N,E,D,,0,]
() J
()MJ
1
()
C
(,) J
()|C() MJ
1
()

J
()]J
1
()
D
(,) J
()D()J
1
()
g
() g
o
() J
()|g() g
o
]

wind

wave
()(
wind

wave
)
53
EquationsofMotionExpressedinNEDusingQuaternions
Kinematictransformationusing:
TheunitquaternionsarenonsingularPseudoinverse
M
() C
(,) D
(,) g
() g
o

wind

waves
J
q
()
R
b
n
(q) 0
33
0
43
T
q
(q)
: |N,E,D,p,c
1
,c
1
,c
1
]
J
q
() J
q
()
J
q
()

J
q
() J
q
()|

J
q
()J
q
() ]
T
q
(q) (T
q
(q)T
q
(q))
1
T
q
(q)
4T
q
(q)
M
() J
q
()
MJ
q
()
C
(,) J
q
()
|C() MJ
q
()

J
q
()]J
q
()
D
(,) J
q
()
D()J
q
()
g
() g
o
() J
q
()
|g() g
o
]

wind

wave
J
q
()
(
wind

wave
)
54
M
m X
u
X
v
X
w
X
v
m Y
v
Y
w
X
w
Y
w
m Z
w
X
p
mz
g
Y
p
my
g
Z
p
mz
g
X
q
Y
q
mx
g
Z
q
my
g
X
r
mx
g
Y
r
Z
r
X
p
mz
g
X
q
my
g
X
r
mz
g
Y
p
Y
q
mx
g
Y
r
my
g
Z
p
mx
g
Z
q
Z
r
I
x
K
p
I
xy
K
q
I
zx
K
r
I
xy
K
q
I
y
M
q
I
yz
M
r
I
zx
K
r
I
yz
M
r
I
z
N
r
Property 7.1(SystemInertiaMatrix) For arigidbodythesysteminertiamatrix ispositive
definite
M M
RB
M
A
0
Property7.2(Coriolis andCentripetalMatrix): Forarigidbodymovingthroughanidealfluid
theCoriolis andcentripetalmatrix canalwaysbeparameterizedsuchthatitisskew
symmetricthatis,
C() C
(),
6
55
(1) M
() M
()
0
6
(2) s
() 2C
(,) s 0 s
6
,
6
,
6
(3) D
(,) 0
6
,
6
EquationsofMotionExpressedinNED
M
() C
(,) D
(,) g
() g
o

wind

waves
sinceM = M
T
> 0 andM =0.
ItshouldbenotedthatC
(,)willnotbeskewsymmetricalalthoughC() isskew
symmetrical.
.
56
V
| C() D() g() J

k
()K
p
]
V
K
p
K
p
J
k
()

|M J
k
()K
p
]
Example7.8.1(Lyapunov AnalysisexploitingMIMOModelProperties)
ALyapunov functioncandidatecanbebasedonkinetic andpotentialenergy
V
1
2
M
1
2
K
p
0
M M
0
K
p
K
p
0
M C() D() g()
K
d
0
V
|K
d
D()]
0
GAS follows from Krasowskii-LaSalle's theorem if J
k
() is nonsingular.
NonlinearPDcontroller
J
k
()
g() K
d
J
k
()K
p
J
k
()
M C() D() g()

57
7.5.2 Symmetry Considerations of the
System Inertia Matrix
(iii)yzplane(fore/aft)symmetry)
M
m
11
0 m
13
0 m
15
0
0 m
22
0 m
24
0 m
26
m
31
0 m
33
0 m
35
0
0 m
42
0 m
44
0 m
46
m
51
0 m
53
0 m
55
0
0 m
62
0 m
64
0 m
66
M
m
11
m
12
0 0 0 m
16
m
21
m
22
0 0 0 m
26
0 0 m
33
m
34
m
35
0
0 0 m
43
m
44
m
45
0
0 0 m
53
m
54
m
55
0
m
61
m
62
0 0 0 m
66
(i)xyplane(bottom/top)symmetry) (ii)xzplane(port/starboard)symmetry
(iv)xz andyzplanes(port/starboardandfore/aft)
symmetries
M
m
11
0 0 0 m
15
m
16
0 m
22
m
23
m
24
0 0
0 m
32
m
33
m
34
0 0
0 m
42
m
43
m
44
0 0
m
51
0 0 0 m
55
m
56
m
61
0 0 0 m
65
m
66
M
m
11
0 0 0 m
15
0
0 m
22
0 m
24
0 0
0 0 m
33
0 0 0
0 m
42
0 m
44
0 0
m
51
0 0 0 m
55
0
0 0 0 0 0 m
66
58
Assumption7.1(SmallRollandPitchAngles)
Theroll andpitch angles:
Thesearegoodassumptionsforvesselswherethepitchandrollmotionsarelimitedthatis,
highlymetacentric stablecraft
Whenderivingthelinearized equationsofmotionitisconvenienttointroduceavessel
parallelcoordinatesystemobtainedbyrotatingthebodyaxesanangle aboutthe
zaxisateachtimestep.
Thisimpliesthat:
where
7.5.3 Linearized Equations of Motion
(Vessel Parallel Coordinates)
,0 are small
J(
00
P
P)
R) 0
33
0
33
I
33
59
Definition7.2(VesselParallelCoordinateSystem)
Thevesselparallelcoordinatesystemisdefinedas:
whereistheNEDposition/attitudeexpressedinBODYcoordinatesandP isgivenby
NoticethatP
T
P=I
66
.
p
P
()
p
P)
R) 0
33
0
33
I
33
NED
BODY
x
b
y
b
x
n
y
n
60
LowSpeedApplications(Stationkeeping)
Vesselparallel(VP)coordinatesimplies:
p
P

() P
()
P

()P()
p
P
()P()
rS
p
where and r
S
0 1 0 0 0 0
1 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
Forlowspeedapplicationsr0and
p

61
Thegravitationalandbuoyancyforces canalsobeexpressedintermsofVPcoordinates.
Forsmallrollandpitchangles:
Noticethatthisformulaconfirmsthattherestoringforcesofaleveledvessel = = 0 is
independentoftheyawangle.
g
00
P
G P
GP
G
p
G
p
Foraneutrallybuoyantsubmersible(W=B)withx
g
=x
b
andy
g
=y
b
wehave:
ForasurfacevesselG isdefinedas:
G diag0, 0,0, 0,(z
g
z
b
)W,(z
g
z
b
)W, 0
G
0
22
0
23
0
0
0
32
G
r
0
0
0 0 0 0 0
0
, G
r
Z
z
0 Z
0
0 K
0
M
z
0 M
0
P
GP G
Noticethat:
62
LowSpeedManeuveringandDP: 0 impliesthatthenonlinearCorioliscentripetal,
damping,restoring,andbuoyancyforcesandmomentscanbelinearizedabout =0
and = = 0.Since C(0) = 0 andD
n
(0) = 0 itmakessensetoapproximate:
p

M D G
p
w

Theresultingstatespacemodelbecomes:
x Ax Bu Ew
A
0 I
M
1
G M
1
D
, B
0
M
1
, E
0
M
1
x |
p
, u
whichisthelineartimeinvariant (LTI)statespacemodelusedinDP.
P)
p
M C()
0
|D D
n
()]
D

-
g()
G
p
g
o

wind

waves
w
63
VesselsinTransit(CruiseCondition):
Forvesselsintransitthecruisespeedisassumedtosatisfy:
Thissuggeststhat
where
u u
o
Nu
o
)

C D)|
o
|u
o
, 0,0, 0,0, 0]
p

o
M Nu
o
) G
p
w

o
Linearparametervarying (LPV)model:
x A(u
o
)x Bu Ew F
o
Au
o

0 I
M
1
G M
1
Nu
o
)
, B
0
M
1
, E
0
M
1
, F
I
0
x |
p

64
7.5.4 Transforming the Equations of
Motion to a Different Point
P
CO
CG

Whenderivingthenonlinearequationsofmotionitisconvenienttotransforminertia,
damping,gravitational,andbuoyancyforcesbetweendifferentpointsin{b}toexploit
structuralpropertiesofthemodel.
Therigidbodytranslationalandrotationalpartsofthesysteminertiamatrixis
decoupledifthecoordinatesystemislocatedintheCGwhileitiscommontoexpress
hydrodynamicaddedmassanddampinginCFalternativelyCO.
Systemtransformationmatrix transformsthegeneralizedvelocities,accelerations,
andforcesbetweentwopointsin{b}.
v
p/n
b
v
b/n
b

b/n
b
r
p/n
b
v
b/n
b
S(r
p
b
)
b/n
b
v
b/n
b
S
(r
p
b
)
b/n
b
65
P
CO
CG

Systemtransformationmatrix
f
b
b
m
b
b

f
p
b
r
p
b
f
p
b
m
p
b

I
33
0
33
S(r
p
b
) I
33
f
p
b
m
p
b
(r
p
b
)
p
H(r
p
b
)
I
33
S
(r
p
b
)
0
33
I
33
, H
1
(r
p
b
)
I
33
S(r
p
b
)
0
33
I
33
v
p/n
b
b/n
b
H(r
p
b
)
v
b/n
b
b/n
b
p
H(r
p
b
)
66
EquationsofMotionAboutCO
M C() D() g()
M
p
H
(r
p
b
)MH
1
(r
p
b
)
C
p
() H
(r
p
b
)C()H
1
(r
p
b
)
D
p
() H
(r
p
b
)D()H
1
(r
p
b
)
g
p
() H
(r
p
b
)g()
p
H(r
p
b
) H
1
(r
p
b
)
p
EquationsofMotionAboutP
M H
(r
p
b
)M
p
H(r
p
b
)
C() H
(r
p
b
)C
p
()H(r
p
b
)
D() H
(r
p
b
)D
p
()H(r
p
b
)
g() H
(r
p
b
)g
p
()
H
(r
p
b
)MH
1
(r
p
b
)
M
p

p
H
(r
p
b
)C()H
1
(r
p
b
)
C
p
()
p
H
(r
p
b
)D()H
1
(r
p
b
)
D
p
()
p
H
(r
p
b
)g()
g
p
()
H
(r
p
b
)
p
67
7.5.5 6 DOF Models for AUVs and ROVs
J()
M C() D() g()
M
m X
u
0 X
w
0 m Y
v
0
X
w
0 m Z
w
0 mz
g
Y
p
0
mz
g
X
q
0 mx
g
Z
q
0 mx
g
Y
r
0
0 mz
g
X
q
0
mz
g
Y
p
0 mx
g
Y
r
0 mx
g
Z
q
0
I
x
K
p
0 I
zx
K
r
0 I
y
M
q
0
I
zx
K
r
0 I
z
N
r
D() diagX
u
,Y
v
,Z
w
,K
p
,M
q
,N
r
)
diagX
|u|u
|u|,Y
|vv|
|v|,Z
|w|w
|w|,K
|p|p
|p|,M
|q|q
|q|,N
|r|r
|r|)
ApproximateModelforNoncoupled Motions
d(V
rc
,,
cr
)
1
2
A
F
c
C
X
(,
rc
)V
rc
2
1
2
A
L
c
C
Y
(,
rc
)V
rc
2
1
2
A
F
c
C
Z
(,
rc
)V
rc
2
1
2
A
L
c
H
L
c
C
K
(,
rc
)V
rc
2
1
2
A
F
c
H
F
c
C
M
(,
rc
)V
rc
2
1
2
A
L
c
L
oa
C
N
(,
rc
)V
rc
2
3DOF
1
2
A
F
c
C
X
(,
rc
)V
rc
2
1
2
A
L
c
C
Y
(,
rc
)V
rc
2
0
0
0
1
2
A
L
c
L
oa
C
N
(,
rc
)V
rc
2

D
n
()
||
D
n1
||
D
n2
||
D
n3
||
D
n4
||
D
n5
||
D
n6
AlternativeRepresentationusingCurrentCoefficients
68
7.5.6 Longitudinal and Lateral Models for
Submarines
The6DOFequationsofmotioncaninmanycasesbedividedintotwononinteracting
(orlightlyinteracting)subsystems:
Longitudinalsubsystem:statesu,w,q and
Lateralsubsystem:statesv,p,r and
Thisdecompositionisgoodforslenderbodies (largelength/widthratio).Typical
applicationsareaircraft,missiles,andsubmarines.
69
yzplaneofsymmetry
(fore/aftsymmetry)
Submarines
M
m
11
m
12
0 0 0 m
16
m
21
m
22
0 0 0 m
26
0 0 m
33
m
34
m
35
0
0 0 m
43
m
44
m
45
0
0 0 m
53
m
54
m
55
0
m
61
m
62
0 0 0 m
66
M
m
11
0 m
13
0 m
15
0
0 m
22
0 m
24
0 m
26
m
31
0 m
33
0 m
35
0
0 m
42
0 m
44
0 m
46
m
51
0 m
53
0 m
55
0
0 m
62
0 m
64
0 m
66
M
m
11
0 0 0 m
15
0
0 m
22
0 m
24
0 0
0 0 m
33
0 0 0
0 m
42
0 m
44
0 0
m
51
0 0 0 m
55
0
0 0 0 0 0 m
66
xyplaneofsymmetry
(bottom/topsymmetry):
xzplaneofsymmetry
(port/starboardsymmetry)
M diagm
11
,m
22
,m
33
,m
44
,m
55
,m
66
)
xz,yz andxyplanesofsymmetry
(port/starboard,fore/aftandbottom/top
symmetries).
70
M
m
11
0 m
13
0 m
15
0
0 m
22
0 m
24
0 m
26
m
31
0 m
33
0 m
35
0
0 m
42
0 m
44
0 m
46
m
51
0 m
53
0 m
55
0
0 m
62
0 m
64
0 m
66
Starboardportsymmetryimpliesthefollowingzeroelements:
The longitudinalandlateralsubmatrices are:
Submarines
M
long

m
11
m
13
m
15
m
31
m
33
m
35
m
51
m
53
m
55
, M
lat

m
22
m
24
m
26
m
42
m
44
m
46
m
62
m
64
m
66
71
LongitudinalSubsystem(DOFs1,3,5)
Submarines
R
b
n
()
cc0 sc cs0s ss ccs0
sc0 cc ss0s cs s0sc
s0 c0s c0c
T
()
1 st0 ct0
0 c s
0 s/c0 c/c0
J()
R
b
n
() 0
33
0
33
T
()
d

cos0 0
0 1
w
q

sin0
0
u
v,p, r, aresmall
notcontrollingtheNposition
usingspeedcontrolinstead
Resultingkinematicequation:
72
Forsimplicity,itisassumedthathigherorderdampingcanbeneglectedthatis,
.Coriolis is,however,modeledbyassumingthat andthat
2ndordertermsinv,w,p,q andraresmall.Hence,DOFs1,3,5gives:
AssumingadiagonalM
A
gives:
Submarines
D
n
() 0 u 0
C
RB
()
0 0 0
0 0 mu
0 0 mx
g
u
u
w
q
C
RB
()
m(y
g
q z
g
r)p m(x
g
q w)q m(x
g
r v)r
m(z
g
p v)p m(z
g
q u)q m(x
g
p y
g
q)r
m(x
g
q w)u m(z
g
r x
g
p)v m(z
g
q u)w (I
yz
q I
xz
p I
z
r)p (I
xz
r I
xy
q I
x
p)r
Collectingtermsinu,w,andq,gives:
C
RB
() C
RB
()
Theskewsymmetricpropertyis
destroyedforthedecoupledmodel:
C
A
()
Z
w
wq Y
v
vr
Y
v
vp X
u
uq
(Z
w
X
u
)uw (N
r
K
p
)pr
0 0 0
0 0 X
u
u
0 (Z
w
X
u
)u 0
u
w
q
73
TherestoringforceswithW=Bandx
g
=x
b
:
Submarines
g()
(W B) sin0
(W B) cos0 sin
(W B) cos0 cos
(y
g
W y
b
B) cos0cos (z
g
W z
b
B) cos0 sin
(z
g
W z
b
B) sin0 (x
g
W x
b
B) cos0 cos
(x
g
W x
b
B) cos0sin (y
g
W y
b
B) sin0
g)
0
0
WBG
z
sin0
74
Submarines
m X
u
X
w
mz
g
X
q
X
w
m Z
w
mx
g
Z
q
mz
g
X
q
mx
g
Z
q
I
y
M
q
u
w
q

X
u
X
w
X
q
Z
u
Z
w
Z
q
M
u
M
w
M
q
u
w
q
0 0 0
0 0 (m X
u
)u
0 (Z
w
X
u
)u mx
g
u
u
w
q

0
0
WBG
z
sin0

t
1
t
3
t
5
m Z
w
mx
g
Z
q
mx
g
Z
q
I
y
M
q
w
q

Z
w
Z
q
M
w
M
q
w
q
0 (m X
u
)u
o
(Z
w
X
u
)u
o
mx
g
u
o
w
q

0
BG
z
Wsin0

t
3
t
5
u u
o
constant
75
Submarines
Linearpitchdynamics(decoupled):
wherethenaturalfrequencyandperiodare:
(I
y
M
q
)0
M
q
0
BG
z
W0 t
5
o
pitch

W BG
z
I
y
M
q
, T
pitch

2m
o
pitch
76
LateralSubsystem(DOFs2,4,6)
Submarines
R
b
n
()
cc0 sc cs0s ss ccs0
sc0 cc ss0s cs s0sc
s0 c0s c0c
T
()
1 st0 ct0
0 c s
0 s/c0 c/c0
J()
R
b
n
() 0
33
0
33
T
()
notcontrollingtheEposition
usingheadingcontrolinstead
Resultingkinematicequation:
p
r
u,w, p,r, and0 aresmall
77
Againitisassumedthathigherordervelocitytermscanbeneglectedsothat
.Hence:
AssumingadiagonalM
A
gives:
Submarines
D
n
() 0
Collectingtermsinv,p andr,gives:
C
RB
() C
RB
()
Theskewsymmetricpropertyis
destroyedforthedecoupledmodel:
C
RB
()
m(y
g
p w)p m(z
g
r x
g
p)q m(y
g
r u)r
m(y
g
q z
g
r)u m(y
g
p w)v m(z
g
p v)w (I
yz
q I
xz
p I
z
r)q (I
yz
r I
xy
p I
y
q)r
m(x
g
r v)u m(y
g
r u)v m(x
g
p y
g
q)w (I
yz
r I
xy
p I
y
q)p (I
xz
r I
xy
q I
x
p)q
C
RB
()
0 0 mu
o
0 0 0
0 0 mx
g
u
o
v
p
r
C
A
()
Z
w
wp X
u
ur
(Y
v
Z
w
)vw (M
q
N
r
)qr
(X
u
Y
v
)uv (K
p
M
q
)pq
0 0 X
u
u
0 0 0
(X
u
Y
v
)u 0 0
v
p
r
78
TherestoringforceswithW=B,x
g
=x
b
andy
g
=z
g
:
g()
(W B) sin0
(W B) cos0 sin
(W B) cos0 cos
(y
g
W y
b
B) cos0cos (z
g
W z
b
B) cos0 sin
(z
g
W z
b
B) sin0 (x
g
W x
b
B) cos0 cos
(x
g
W x
b
B) cos0sin (y
g
W y
b
B) sin0
Submarines
g
0
WBG
z
sin
0
79
Submarines
u u
o
constant
m Y
v
mz
g
Y
p
mx
g
Y
r
mz
g
Y
p
I
x
K
p
I
zx
K
r
mx
g
Y
r
I
zx
K
r
I
z
N
r
v
p
r

Y
v
Y
p
Y
r
M
v
M
p
M
r
N
v
N
p
N
r
v
p
r
0 0 (m X
u
)u
0 0 0
(X
u
Y
v
)u 0 mx
g
u
v
p
r

0
WBG
z
sin
0

t
2
t
4
t
6
m Y
v
mx
g
Y
r
mx
g
Y
r
I
z
N
r
v
r

Y
v
Y
r
N
v
N
r
v
r
0 (m X
u
)u
o
(X
u
Y
v
)u
o
mx
g
u
o
v
r

t
2
t
6
80
Submarines
Linearrolldynamics(decoupled):
wherethenaturalfrequency andperiodare:
(I
x
K
p
)
K
p
WBG
z
t
4
o
roll

W BG
z
I
x
K
p
, T
roll

2m
o
roll

Chapter 7 - Models For Ships, Offshore Structures and Underwater Vehicles

Hochgeladen von

Dokumentinformationen

Originaltitel

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Chapter 7 - Models For Ships, Offshore Structures and Underwater Vehicles

Hochgeladen von

Copyright:

Verfügbare Formate

1

TTK 4190 Guidance and Control (T. I. Fossen)

Generalized acceleration,velocity,positionandforce arethenfoundfrom:

TTK 4190 Guidance and Control (T. I. Fossen)

| C() D() g() J

Lecture Notes TTK 4190 Guidance and Control (T. I. Fossen)

Das könnte Ihnen auch gefallen