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% time derivative of the state vector: x = [ u v r x y psi p phi delta n ]'

for

% a container ship L = 175 m, where

%

% u

= surge velocity

(m/s)

% v

= sway velocity

(m/s)

% r

= yaw velocity

(rad/s)

% x

= position in x-direction (m)

% y

= position in y-direction (m)

% psi

= yaw angle

(rad)

% p

= roll velocity

(rad/s)

% phi

= roll angle

(rad)

% delta = actual rudder angle

(rad)

% n

= actual shaft velocity

(rpm)

%

% The input vector is :

%

% ui

= [ delta_c n_c ]' where

%

% delta_c = commanded rudder angle

(rad)

% n_c

= commanded shaft velocity (rpm)

%

% Reference: Son og Nomoto (1982). On the Coupled Motion of Steering and

%

Rolling of a High Speed Container Ship, Naval Architect of Ocean

Engineering,

%

20: 73-83. From J.S.N.A. , Japan, Vol. 150, 1981.

%

% Author:

Trygve Lauvdal

% Date:

12th May 1994

% Revisions: 18th July 2001 (Thor I. Fossen): added output U, changed order of

x-vector

%

20th July 2001 (Thor I. Fossen): changed my = 0.000238 to my =

0.007049

% ________________________________________________________________

%

% MSS GNC is a Matlab toolbox for guidance, navigation and control.

% The toolbox is part of the Marine Systems Simulator (MSS).

%

% Copyright (C) 2008 Thor I. Fossen and Tristan Perez

%

% This program is free software: you can redistribute it and/or modify

% it under the terms of the GNU General Public License as published by

% the Free Software Foundation, either version 3 of the License, or

% (at your option) any later version.

%

% This program is distributed in the hope that it will be useful, but

% WITHOUT ANY WARRANTY; without even the implied warranty of

% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

% GNU General Public License for more details.

%

% You should have received a copy of the GNU General Public License

% along with this program. If not, see <http://www.gnu.org/licenses/>.

%

% E-mail: contact@marinecontrol.org

% URL:

<http://www.marinecontrol.org>

if (length(x) ~= 10),error('x-vector must have dimension 10 !');end

if (length(ui) ~= 2),error('u-vector must have dimension 2 !');end

% Normalization variables

L = 175;

U = sqrt(x(1)^2 + x(2)^2);

% service speed (m/s)

if U <= 0,error('The ship must have speed greater than zero');end

if x(10) <= 0,error('The propeller rpm must be greater than zero');end

delta_max = 10;

Ddelta_max = 5;

n_max

= 160;

% max rudder rate (deg/s)

% max shaft velocity (rpm)

delta_c = ui(1);

n_c

= ui(2)/60*L/U;

u

p

phi

delta

=

=

=

=

x(1)/U;

x(7)*L/U;

x(8);

x(9);

v

r

psi

n

=

=

=

=

x(2)/U;

x(3)*L/U;

x(6);

x(10)/60*L/U;

m = 0.00792;

mx

= 0.000238;

my =

Ix = 0.0000176; alphay = 0.05;

lx =

ly = 0.0313;

Ix

= 0.0000176; Iz =

Jx = 0.0000034; Jz

= 0.000419;

xG =

B

dA

KM

Delta

rho

=

=

=

=

=

25.40;

9.00;

10.39;

1.8219;

1025;

dF

d

KB

D

t

=

=

=

=

=

8.00;

8.50;

4.6154;

6.533;

0.175;

g

nabla

AR

GM

T

= rho*g*nabla/(rho*L^2*U^2/2);

=

=

=

=

=

main dimensions

0.007049;

0.0313;

0.000456;

0;

9.81;

21222;

33.0376;

0.3/L;

0.0005;

Xuu

Xphiphi

= -0.0004226;

= -0.00020;

Xvr

Xvv

= -0.00311;

= -0.00386;

Xrr

= 0.00020;

Kv

Kphi

Kvvr

Kvphiphi

= 0.0003026;

= -0.000021;

= -0.000588;

= -0.0000793;

Kr

Kvvv

Kvrr

Krrphi

= -0.000063;

= 0.002843;

= 0.0010565;

= -0.000243;

Kp

Krrr

Kvvphi

Krphiphi

= -0.0000075;

= -0.0000462;

= -0.0012012;

= 0.00003569;

Yv

Yphi

Yvvr

Yvphiphi

= -0.0116;

= -0.000063;

= 0.0214;

= 0.00304;

Yr

Yvvv

Yvrr

Yrrphi

= 0.00242;

= -0.109;

= -0.0405;

= 0.009325;

Yp

Yrrr

Yvvphi

Yrphiphi

= 0;

= 0.00177;

= 0.04605;

= -0.001368;

Nv

Nphi

= -0.0038545;

= -0.0001424;

Nr

Nvvv

= -0.00222;

= 0.001492;

Np

Nrrr

= 0.000213;

= -0.00229;

Nvvr

= -0.0424;

Nvphiphi = -0.0053766;

kk

wp

cpv

cRr

cRX

xH

= 0.631;

= 0.184;

= 0.0;

= -0.156;

= 0.71;

= -0.48;

Nvrr

= 0.00156;

Nrrphi = -0.0038592;

epsilon

tau

cpr

cRrrr

aH

= 0.921;

= 1.09;

= 0.0;

= -0.275;

= 0.237;

xR

xp

ga

cRrrv

zR

Nvvphi

= -0.019058;

Nrphiphi = 0.0024195;

= -0.5;

= -0.526;

= 0.088;

= 1.96;

= 0.033;

m11 = (m+mx);

m22 = (m+my);

m32 = -my*ly;

m42 = my*alphay;

m33 = (Ix+Jx);

m44 = (Iz+Jz);

% Rudder saturation and dynamics

if abs(delta_c) >= delta_max*pi/180,

delta_c = sign(delta_c)*delta_max*pi/180;

end

delta_dot = delta_c - delta;

if abs(delta_dot) >= Ddelta_max*pi/180,

delta_dot = sign(delta_dot)*Ddelta_max*pi/180;

end

% Shaft velocity saturation and dynamics

n_c = n_c*U/L;

n

= n*U/L;

if abs(n_c) >= n_max/60,

n_c = sign(n_c)*n_max/60;

end

if n > 0.3,Tm=5.65/n;else,Tm=18.83;end

n_dot = 1/Tm*(n_c-n)*60;

% Calculation of state derivatives

vR

= ga*v + cRr*r + cRrrr*r^3 + cRrrv*r^2*v;

uP

= cos(v)*((1 - wp) + tau*((v + xp*r)^2 + cpv*v + cpr*r));

J

= uP*U/(n*D);

KT

= 0.527 - 0.455*J;

uR

= uP*epsilon*sqrt(1 + 8*kk*KT/(pi*J^2));

alphaR = delta + atan(vR/uR);

FN

= - ((6.13*Delta)/(Delta + 2.25))*(AR/L^2)*(uR^2 + vR^2)*sin(alphaR);

T

= 2*rho*D^4/(U^2*L^2*rho)*KT*n*abs(n);

% Forces and moments

X

= Xuu*u^2 + (1-t)*T + Xvr*v*r + Xvv*v^2 + Xrr*r^2 + Xphiphi*phi^2 + ...

cRX*FN*sin(delta) + (m + my)*v*r;

Y

...

Yvrr*v*r^2 + Yvvphi*v^2*phi + Yvphiphi*v*phi^2 + Yrrphi*r^2*phi + ...

K

...

N

...

Krphiphi*r*phi^2 - (1 + aH)*zR*FN*cos(delta) + mx*lx*u*r - W*GM*phi;

Nrphiphi*r*phi^2 + (xR + aH*xH)*FN*cos(delta);

detM = m22*m33*m44-m32^2*m44-m42^2*m33;

xdot =[

X*(U^2/L)/m11

-((-m33*m44*Y+m32*m44*K+m42*m33*N)/detM)*(U^2/L)

((-m42*m33*Y+m32*m42*K+N*m22*m33-N*m32^2)/detM)*(U^2/L^2)

(cos(psi)*u-sin(psi)*cos(phi)*v)*U

(sin(psi)*u+cos(psi)*cos(phi)*v)*U

cos(phi)*r*(U/L)

((-m32*m44*Y+K*m22*m44-K*m42^2+m32*m42*N)/detM)*(U^2/L^2)

p*(U/L)

delta_dot

n_dot

];

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