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1 MATH FACTS
1.1 Vectors
1.1.1 Deﬁnition
1.1.2 Vector Magnitude
1.1.3 Vector Dot Product
1.1.4 Vector Cross Product
1.2 Matrices
1.2.1 Deﬁnition
1.2.2 Multiplying a Vector by a Matrix
1.2.3 Multiplying a Matrix by a Matrix
1.2.4 Common Matrices
1.2.5 Transpose
1.2.6 Determinant
1.2.7 Inverse
1.2.8 Trace
1.2.9 Eigenvalues and Eigenvectors
1.3.3 Convolution Theorem
1.3.4 Solution of Diﬀerential Equations by Laplace Transform
2 KINEMATICS OF MOVING FRAMES
2.1 Rotation of Reference Frames
2.2 Diﬀerential Rotations
2.3 Rate of Change of Euler Angles
3.3 Example: Mass on a String
3.3.1 Moving Frame Aﬃxed to Mass
3.3.2 Rotating Frame Attached to Pivot Point
3.3.3 Stationary Frame
3.4 Angular Momentum
3.5 Example: Spinning Book
3.5.1 x-axis
3.5.2 y-axis
3.5.3 z-axis
3.6 Parallel Axis Theorem
3.7 Basis for Simulation
4 HYDRODYNAMICS: INTRODUCTION
4.1 Taylor Series and Hydrodynamic Coeﬃcients
4.2 Surface Vessel Linear Model
4.3 Stability of the Sway/Yaw System
4.4 Basic Rudder Action in the Sway/Yaw Model
4.4.1 Adding Yaw Damping through Feedback
4.4.2 Heading Control in the Sway/Yaw Model
4.5 Response of the Vessel to Step Rudder Input
4.5.1 Phase 1: Accelerations Dominate
4.6 Summary of the Linear Maneuvering Model
4.7 Stability in the Vertical Plane
5 SIMILITUDE
5.1 Use of Nondimensional Groups
5.2 Common Groups in Marine Engineering
5.3 Similitude in Maneuvering
5.4 Roll Equation Similitude
6 CAPTIVE MEASUREMENTS
6.1 Towtank
6.2 Rotating Arm Device
6.3 Planar-Motion Mechanism
7 STANDARD MANEUVERING TESTS
7.1 Dieudonn´e Spiral
7.2 Zig-Zag Maneuver
7.3 Circle Maneuver
7.3.1 Drift Angle
7.3.2 Speed Loss
7.3.3 Heel Angle
7.3.4 Heeling in Submarines with Sails
8 STREAMLINED BODIES
8.1 Nominal Drag Force
8.2 Munk Moment
8.3 Separation Moment
8.4 Net Eﬀects: Aerodynamic Center
8.5 Role of Fins in Moving the Aerodynamic Center
8.6 Aggregate Eﬀects of Body and Fins
9.5 Total Force on a Vessel
9.6 Total Moment on a Vessel
9.7 Relation to Wing Lift
9.8 Convention: Hydrodynamic Mass Matrix A
10 PRACTICAL LIFT CALCULATIONS
10.1 Characteristics of Lift-Producing Mechanisms
10.2 Jorgensen’s Formulas
10.3 Hoerner’s Data: Notation
10.4 Slender-Body Theory vs. Experiment
10.5 Slender-Body Approximation for Fin Lift
11 FINS AND LIFTING SURFACES
11.1 Origin of Lift
11.2 Three-Dimensional Eﬀects: Finite Length
11.3 Ring Fins
12 PROPELLERS AND PROPULSION
12.1 Introduction
12.2.1 Basic Characteristics
12.2.3 Engine/Motor Models
12.3.1 One-State Model: Yoerger et al
12.3.2 Two-State Model: Healey et al
13 TOWING OF VEHICLES
13.1 Statics
13.1.1 Force Balance
13.1.2 Critical Angle
13.2 Linearized Dynamics
13.2.1 Derivation
13.2.2 Damped Axial Motion
13.3 Cable Strumming
13.4 Vehicle Design
14 TRANSFER FUNCTIONS & STABILITY
14.1 Partial Fractions
14.2 Partial Fractions: Unique Poles
14.3 Example: Partial Fractions with Unique Real Poles
15.2.1 Standard State-Space Form
15.2.2 Converting a State-Space Model into a Transfer Function
15.2.3 Converting a Transfer Function into a State-Space Model
15.3 PID Controllers
15.4 Example: PID Control
15.4.1 Proportional Only
15.4.2 Proportional-Derivative Only
15.4.3 Proportional-Integral-Derivative
15.5 Heuristic Tuning
15.6 Block Diagrams of Systems
15.6.1 Fundamental Feedback Loop
15.6.2 Block Diagrams: General Case
15.6.3 Primary Transfer Functions
16 MODAL ANALYSIS
16.1 Introduction
16.2 Matrix Exponential
16.2.1 Deﬁnition
16.2.2 Modal Canonical Form
16.2.3 Modal Decomposition of Response
16.3 Forced Response and Controllability
16.4 Plant Output and Observability
17 CONTROL SYSTEMS – LOOPSHAPING
17.1 Introduction
17.2 Roots of Stability – Nyquist Criterion
17.2.1 Mapping Theorem
17.2.2 Nyquist Criterion
17.2.3 Robustness on the Nyquist Plot
17.3 Design for Nominal Performance
17.4 Design for Robustness
17.5 Robust Performance
17.6 Implications of Bode’s Integral
17.7 The Recipe for Loopshaping
18.1 Introduction
18.2 Full-State Feedback
18.3 Dynamic Programming
18.4 Dynamic Programming and Full-State Feedback
18.5 Properties and Use of the LQR
19 KALMAN FILTER
19.1 Introduction
19.2 Problem Statement
19.3 Step 1: An Equation for ˙ Σ
19.4 Step 2: H as a Function of Σ
19.5 Properties of the Solution
19.6 Combination of LQR and KF
19.7 Proofs of the Intermediate Results
19.7.4 Proof of the Separation Principle
20 LOOP TRANSFER RECOVERY
20.1 Introduction
20.2 A Special Property of the LQR Solution
20.3 The Loop Transfer Recovery Result
20.4 Usage of the Loop Transfer Recovery
20.5 Three Lemmas
21 SYSTEM IDENTIFICATION
21.1 Introduction
21.2 Visual Output from a Simple Input
21.3 Transfer Function Estimation – Sinusoidal Input
21.4 Transfer Function Estimation – Broadband Input
21.4.1 Fourier Transform of Sampled Data
21.4.2 Estimating the Transfer Function
21.5 Time-Domain Simulation
22.2 Global Positioning System (GPS)
23 REFERENCES
24 PROBLEMS
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24330220 Maneuvering and Control of Marine Vehicles

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11/04/2011

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