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Handbook of Marine Craft Hydrodynamics and Motion Control [Hardback]

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  • Formāts: Hardback, 596 pages, height x width x depth: 249x181x35 mm, weight: 1136 g
  • Izdošanas datums: 23-May-2011
  • Izdevniecība: John Wiley & Sons Inc
  • ISBN-10: 1119991498
  • ISBN-13: 9781119991496
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Handbook of Marine Craft Hydrodynamics and Motion ControlPalielināt
  • Formāts: Hardback, 596 pages, height x width x depth: 249x181x35 mm, weight: 1136 g
  • Izdošanas datums: 23-May-2011
  • Izdevniecība: John Wiley & Sons Inc
  • ISBN-10: 1119991498
  • ISBN-13: 9781119991496
Citas grāmatas par šo tēmu:
Permanent link: https://www.kriso.lv/db/9781119991496.html
Keywords:
"The book is divided into three parts; the first describes modelling of marine craft"--

"This book includes methods for the design and implementation of industrial guidance, navigation and control (GNC) systems for ships, high-speed craft, semi-submersibles, submarines, underwater vehicles and ocean structures. To be able to design motion control systems it is evident that a good mathematical model of the craft and the environment (wind, waves, and ocean currents) are required for simulation and verification of the design. The mathematical models are derived in a vectorial setting using Lagrangian and Newtonian mechanics. Simulation models based on the two main theories - maneuvering and seakeeping - are presented, and the concept of fluid-memory effects are demystified. This text covers state-of-the-art methods for GNC, including nonlinear multivariable PID controllers, state estimators and control allocation methods. More advanced topics, such as optimal control theory, backstepping, feedback linearization and sliding-mode control, are included for the advanced reader. Case studiesand applications are treated at the end of each chapter. The Marine Systems Simulator (MSS), which is an open source Matlab toolbox, is used for illustration"--

Provided by publisher.

This book includes methods for the design and implementation of industrial guidance, navigation and control (GNC) systems for ships, high-speed craft, semi-submersibles, submarines, underwater vehicles and ocean structures. To be able to design motion control systems it is evident that a good mathematical model of the craft and the environment (wind, waves and ocean currents) are required for simulation and verification of the design. The mathematical models are derived in a vectorial setting using Lagrangian and Newtonian mechanics.  Simulation models based on the two main theories - maneuvering and seakeeping - are presented, and the concept of fluid-memory effects are demystified.

This text covers state-of-the-art methods for GNC, including nonlinear multivariable PID controllers, state estimators and control allocation methods. More advanced topics, such as optimal control theory, backstepping, feedback linearization and sliding-mode control, are included for the advanced reader.

Case studies and applications are treated at the end of each chapter. The Marine Systems Simulator (MSS), which is an open source Matlab toolbox, is used for illustration. 

About the Author xv
Preface xvii
List of Tables
xix
I Marine Craft Hydrodynamics
1(226)
1 Introduction
3(12)
1.1 Classification of Models
6(1)
1.2 The Classical Models in Naval Architecture
7(5)
1.2.1 Maneuvering Theory
9(2)
1.2.2 Seakeeping Theory
11(1)
1.2.3 Unified Theory
12(1)
1.3 Fossen's Robot-Like Vectorial Model for Marine Craft
12(3)
2 Kinematics
15(30)
2.1 Reference Frames
16(4)
2.2 Transformations between BODY and NED
20(14)
2.2.1 Euler Angle Transformation
22(5)
2.2.2 Unit Quaternions
27(5)
2.2.3 Quaternions from Euler Angles
32(1)
2.2.4 Euler Angles from Quaternions
33(1)
2.3 Transformations between ECEF and NED
34(5)
2.3.1 Longitude and Latitude Transformations
34(2)
2.3.2 Longitude and Latitude from ECEF Coordinates
36(2)
2.3.3 ECEF Coordinates from Longitude and Latitude
38(1)
2.4 Transformations between BODY and FLOW
39(6)
2.4.1 Definitions of Course, Heading and Sideslip Angles
39(2)
2.4.2 Sideslip and Angle of Attack
41(4)
3 Rigid-Body Kinetics
45(14)
3.1 Newton---Euler Equations of Motion about CG
45(4)
3.1.1 Translational Motion about CG
47(1)
3.1.2 Rotational Motion about CG
48(1)
3.1.3 Equations of Motion about CG
49(1)
3.2 Newton---Euler Equations of Motion about CO
49(2)
3.2.1 Translational Motion about CO
50(1)
3.2.2 Rotational Motion about CO
50(1)
3.3 Rigid-Body Equations of Motion
51(8)
3.3.1 Nonlinear 6 DOF Rigid-Body Equations of Motion
51(5)
3.3.2 Linearized 6 DOF Rigid-Body Equations of Motion
56(3)
4 Hydrostatics
59(22)
4.1 Restoring Forces for Underwater Vehicles
59(3)
4.1.1 Hydrostatics of Submerged Vehicles
59(3)
4.2 Restoring Forces for Surface Vessels
62(6)
4.2.1 Hydrostatics of Floating Vessels
62(2)
4.2.2 Linear (Small Angle) Theory for Boxed-Shaped Vessels
64(1)
4.2.3 Computation of Metacenter Height for Surface Vessels
65(3)
4.3 Load Conditions and Natural Periods
68(6)
4.3.1 Decoupled Computation of Natural Periods
68(1)
4.3.2 Computation of Natural Periods in a 6 DOF Coupled System
69(2)
4.3.3 Natural Period as a Function of Load Condition
71(3)
4.4 Ballast Systems
74(7)
4.4.1 Conditions for Manual Pretrimming
76(2)
4.4.2 Automatic Pretrimming using Feedback from z, φ and θ
78(3)
5 Seakeeping Theory
81(28)
5.1 Hydrodynamic Concepts and Potential Theory
82(3)
5.1.1 Numerical Approaches and Hydrodynamic Codes
84(1)
5.2 Seakeeping and Maneuvering Kinematics
85(5)
5.2.1 Seakeeping Reference Frame
85(1)
5.2.2 Transformation between BODY and SEAKEEPING
86(4)
5.3 The Classical Frequency-Domain Model
90(6)
5.3.1 Potential Coefficients and the Concept of Forced Oscillations
90(3)
5.3.2 Frequency-Domain Seakeeping Models
93(3)
5.4 Time-Domain Models including Fluid Memory Effects
96(8)
5.4.1 Cummins Equation in SEAKEEPING Coordinates
96(3)
5.4.2 Linear Time-Domain Seakeeping Equations in BODY Coordinates
99(4)
5.4.3 Nonlinear Unified Seakeeping and Maneuvering Model with Fluid Memoty Effects
103(1)
5.5 Case Study: Identification of Fluid Memory Effects
104(5)
5.5.1 Frequency-Domain Identification using the MSS FDI Toolbox
104(5)
6 Maneuvering Theory
109(24)
6.1 Rigid-Body Kinetics
110(1)
6.2 Potential Coefficients
111(4)
6.2.1 3 DOF Maneuvering Model
113(1)
6.2.2 6 DOF Coupled Motions
113(2)
6.3 Nonlinear Coriolis Forces due to Added Mass in a Rotating Coordinate System
115(7)
6.3.1 Lagrangian Mechanics
115(1)
6.3.2 Kirchhoff's Equations in Vector Form
116(1)
6.3.3 Added Mass and Coriolis---Centripetal Forces due to the Rotation of BODY Relative to NED
117(5)
6.4 Viscous Damping and Ocean Current Forces
122(6)
6.4.1 Linear Viscous Damping
123(2)
6.4.2 Nonlinear Surge Damping
125(2)
6.4.3 Cross-Flow Drag Principle
127(1)
6.5 Maneuvering Equations
128(5)
6.5.1 Hydrodynamic Mass---Damper---Spring System
128(2)
6.5.2 Nonlinear Maneuvering Equations
130(1)
6.5.3 Linearized Maneuvering Equations
131(2)
7 Models for Ships, Offshore Structures and Underwater Vehicles
133(54)
7.1 Maneuvering Models (3 DOF)
133(9)
7.1.1 Nonlinear Maneuvering Models Based on Surge Resistance and Cross-Flow Drag
136(1)
7.1.2 Nonlinear Maneuvering Models Based on Second-order Modulus Functions
136(2)
7.1.3 Nonlinear Maneuvering Models Based on Odd Functions
138(2)
7.1.4 Linearized Maneuvering Models
140(2)
7.2 Autopilot Models for Heading Control (1 DOF)
142(10)
7.2.1 Second-Order Nomoto Model (Yaw Subsystem)
142(1)
7.2.2 First-Order Nomoto Model (Yaw Subsystem)
143(2)
7.2.3 Nonlinear Extensions of Nomoto's Model
145(1)
7.2.4 Pivot Point (Yaw Rotation Point)
146(2)
7.2.5 Nondimensional Maneuvering and Autopilot Models
148(4)
7.3 DP Models (3 DOF)
152(6)
7.3.1 Nonlinear DP Model using Current Coefficients
153(4)
7.3.2 Linearized DP Model
157(1)
7.4 Maneuvering Models Including Roll (4 DOF)
158(9)
7.4.1 The Nonlinear Model of Son and Nomoto
163(1)
7.4.2 The Nonlinear Model of Blanke and Christensen
164(1)
7.4.3 Nonlinear Model Based on Low-Aspect Ratio Wing Theory
165(2)
7.5 Equations of Motion (6 DOF)
167(20)
7.5.1 Nonlinear 6 DOF Vector Representations in BODY and NED
167(4)
7.5.2 Symmetry Considerations of the System Inertia Matrix
171(2)
7.5.3 Linearized Equations of Motion (Vessel Parallel Coordinates)
173(3)
7.5.4 Transforming the Equations of Motion to a Different Point
176(6)
7.5.5 6 DOF Models for AUVs and ROVs
182(1)
7.5.6 Longitudinal and Lateral Models for Submarines
183(4)
8 Environmental Forces and Moments
187(40)
8.1 Wind Forces and Moments
188(11)
8.1.1 Wind Forces and Moments on Marine Craft at Rest
188(3)
8.1.2 Wind Forces and Moments on Moving Marine Craft
191(1)
8.1.3 Wind Coefficients Based on Flow over a Helmholtz---Kirchhoff Plate
192(2)
8.1.4 Wind Coefficients for Merchant Ships
194(1)
8.1.5 Wind Coefficients for Very Large Crude Carriers
195(1)
8.1.6 Wind Coefficients for Large Tankers and Medium-Sized Ships
195(1)
8.1.7 Wind Coefficients for Moored Ships and Floating Structures
195(4)
8.2 Wave Forces and Moments
199(22)
8.2.1 Sea State Descriptions
200(2)
8.2.2 Wave Spectra
202(6)
8.2.3 Wave Amplitude Response Model
208(3)
8.2.4 Wave Force Response Amplitude Operators
211(2)
8.2.5 Motion Response Amplitude Operators
213(1)
8.2.6 State-Space Models for Wave Responses
214(7)
8.3 Ocean Current Forces and Moments
221(6)
8.3.1 3-D Irrotational Ocean Current Model
224(1)
8.3.2 2-D Irrotational Ocean Current Model
224(3)
II Motion Control
227(302)
9 Introduction
229(12)
9.1 Historical Remarks
229(3)
9.1.1 The Gyroscope and its Contributions to Ship Control
230(1)
9.1.2 Autopilots
231(1)
9.1.3 Dynamic Positioning and Position Mooring Systems
231(1)
9.1.4 Waypoint Tracking and Path-Following Control Systems
232(1)
9.2 The Principles of Guidance, Navigation and Control
232(3)
9.3 Setpoint Regulation, Trajectory-Tracking and Path-Following Control
235(1)
9.4 Control of Underactuated and Fully Actuated Craft
235(6)
9.4.1 Configuration Space
236(1)
9.4.2 Workspace and Control Objectives
237(1)
9.4.3 Weathervaning of Underactuated Craft in a Uniform Force Field
238(3)
10 Guidance Systems
241(44)
10.1 Target Tracking
242(4)
10.1.1 Line-of-Sight Guidance
243(1)
10.1.2 Pure Pursuit Guidance
244(1)
10.1.3 Constant Bearing Guidance
244(2)
10.2 Trajectory Tracking
246(8)
10.2.1 Reference Models for Trajectory Generation
248(3)
10.2.2 Trajectory Generation using a Marine Craft Simulator
251(2)
10.2.3 Optimal Trajectory Generation
253(1)
10.3 Path Following for Straight-Line Paths
254(12)
10.3.1 Path Generation based on Waypoints
255(2)
10.3.2 LOS Steering Laws
257(9)
10.4 Path Following for Curved Paths
266(19)
10.4.1 Path Generation using Interpolation Methods
267(11)
10.4.2 Path-Following Kinematic Controller
278(7)
11 Sensor and Navigation Systems
285(58)
11.1 Low-Pass and Notch Filtering
287(5)
11.1.1 Low-Pass Filtering
288(2)
11.1.2 Cascaded Low-Pass and Notch Filtering
290(2)
11.2 Fixed Gain Observer Design
292(4)
11.2.1 Observability
292(1)
11.2.2 Luenberger Observer
293(1)
11.2.3 Case Study: Luenberger Observer for Heading Autopilots using only Compass Measurements
294(2)
11.3 Kalman Filter Design
296(14)
11.3.1 Discrete-Time Kalman Filter
296(1)
11.3.2 Continuous-Time Kalman Filter
297(1)
11.3.3 Extended Kalman Filter
298(1)
11.3.4 Corrector---Predictor Representation for Nonlinear Observers
299(1)
11.3.5 Case Study: Kalman Filter for Heading Autopilots using only Compass Measurements
300(4)
11.3.6 Case Study: Kalman Filter for Dynamic Positioning Systems using GNSS and Compass Measurements
304(6)
11.4 Nonlinear Passive Observer Designs
310(18)
11.4.1 Case Study: Passive Observer for Dynamic Positioning using GNSS and Compass Measurements
311(8)
11.4.2 Case Study: Passive Observer for Heading Autopilots using only Compass Measurements
319(8)
11.4.3 Case Study: Passive Observer for Heading Autopilots using both Compass and Rate Measurements
327(1)
11.5 Integration Filters for IMU and Global Navigation Satellite Systems
328(15)
11.5.1 Integration Filter for Position and Linear Velocity
332(4)
11.5.2 Accelerometer and Compass Aided Attitude Observer
336(4)
11.5.3 Attitude Observer using Gravitational and Magnetic Field Directions
340(3)
12 Motion Control Systems
343(74)
12.1 Open-Loop Stability and Maneuverability
343(22)
12.1.1 Straight-Line, Directional and Positional Motion Stability
344(9)
12.1.2 Maneuverability
353(12)
12.2 PID Control and Acceleration Feedback
365(33)
12.2.1 Linear Mass---Damper---Spring Systems
365(5)
12.2.2 Acceleration Feedback
370(2)
12.2.3 PID Control with Acceleration Feedback
372(3)
12.2.4 MIMO Nonlinear PID Control with Acceleration Feedback
375(2)
12.2.5 Case Study: Heading Autopilot for Ships and Underwater Vehicles
377(7)
12.2.6 Case Study: Heading Autopilot with Acceleration Feedback for Ships and Underwater Vehicles
384(1)
12.2.7 Case Study: Linear Cross-Tracking System for Ships and Underwater Vehicles
385(2)
12.2.8 Case Study: LOS Path-Following Control for Ships and Underwater Vehicles
387(2)
12.2.9 Case Study: Path-Following Control for Ships and Underwater Vehicles using Serret-Frenet Coordinates
389(2)
12.2.10 Case Study: Dynamic Positioning Control System for Ships and Floating Structures
391(5)
12.2.11 Case Study: Position Mooring Control System for Ships and Floating Structures
396(2)
12.3 Control Allocation
398(19)
12.3.1 Actuator Models
398(6)
12.3.2 Unconstrained Control Allocation for Nonrotatable Actuators
404(1)
12.3.3 Constrained Control Allocation for Nonrotatable Actuators
405(3)
12.3.4 Constrained Control Allocation for Azimuth Thrusters
408(3)
12.3.5 Case Study: DP Control Allocation System
411(6)
13 Advanced Motion Control Systems
417(112)
13.1 Linear Quadratic Optimal Control
418(33)
13.1.1 Linear Quadratic Regulator
418(2)
13.1.2 LQR Design for Trajectory Tracking and Integral Action
420(1)
13.1.3 General Solution of the LQ Trajectory-Tracking Problem
421(8)
13.1.4 Case Study: Optimal Heading Autopilot for Ships and Underwater Vehicles
429(4)
13.1.5 Case Study: Optimal Fin and Rudder-Roll Damping Systems for Ships
433(13)
13.1.6 Case Study: Optimal Dynamic Positioning System for Ships and Floating Structures
446(5)
13.2 State Feedback Linearization
451(6)
13.2.1 Decoupling in the BODY Frame (Velocity Control)
451(1)
13.2.2 Decoupling in the NED Frame (Position and Attitude Control)
452(2)
13.2.3 Case Study: Feedback Linearizing Speed Controller for Ships and Underwater Vehicles
454(1)
13.2.4 Case Study: Feedback Linearizing Ship and Underwater Vehicle Autopilot
455(1)
13.2.5 Case Study: MIMO Adaptive Feedback Linearizing Controller for Ships and Underwater Vehicles
455(2)
13.3 Integrator Backstepping
457(62)
13.3.1 A Brief History of Backstepping
458(1)
13.3.2 The Main Idea of Integrator Backstepping
458(7)
13.3.3 Backstepping of SISO Mass---Damper---Spring Systems
465(4)
13.3.4 Integral Action by Constant Parameter Adaptation
469(3)
13.3.5 Integrator Augmentation Technique
472(3)
13.3.6 Case Study: Backstepping of MIMO Mass---Damper---Spring Systems
475(5)
13.3.7 Case Study: MIMO Backstepping for Fully Actuated Ships
480(4)
13.3.8 Case Study: MIMO Backstepping Design with Acceleration Feedback for Fully Actuated Ships
484(3)
13.3.9 Case Study: Nonlinear Separation Principle for PD Controller---Observer Design
487(4)
13.3.10 Case Study: Weather Optimal Position Control for Ships and Floating Structures
491(18)
13.3.11 Case Study: Heading Autopilot for Ships and Underwater Vehicles
509(3)
13.3.12 Case Study: Path-Following Controller for Underactuated Marine Craft
512(7)
13.4 Sliding-Mode Control
519(10)
13.4.1 SISO Sliding-Mode Control
519(3)
13.4.2 Sliding-Mode Control using the Eigenvalue Decomposition
522(3)
13.4.3 Case Study: Heading Autopilot for Ships and Underwater Vehicles
525(1)
13.4.4 Case Study: Pitch and Depth Autopilot for Underwater Vehicles
526(3)
Appendices
529(20)
A Nonlinear Stability Theory
531(10)
A.1 Lyapunov Stability for Autonomous Systems
531(1)
A.1.1 Stability and Convergence
531(1)
A.1.2 Lyapunov's Direct Method
532(1)
A.1.3 Krasovskii---LaSalle's Theorem
533(1)
A.1.4 Global Exponential Stability
534(1)
A.2 Lyapunov Stability of Nonautonomous Systems
535(1)
A.2.1 Barbalat's Lemma
535(1)
A.2.2 LaSalle---Yoshizawa's Theorem
536(1)
A.2.3 Matrosov's Theorem
536(1)
A.2.4 UGAS when Backstepping with Integral Action
537(4)
B Numerical Methods
541(8)
B.1 Discretization of Continuous-Time Systems
541(1)
B.1.1 Linear State-Space Models
541(2)
B.1.2 Nonlinear State-Space Models
543(1)
B.2 Numerical Integration Methods
544(1)
B.2.1 Euler's Method
545(1)
B.2.2 Adams---Bashford's Second-Order Method
546(1)
B.2.3 Runge---Kutta Second-Order Method
547(1)
B.2.4 Runge---Kutta Fourth-Order Method
547(1)
B.3 Numerical Differentiation
547(2)
References 549(18)
Index 567
Professor Thor Fossen, Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Norway Thor Fossen was appointed Professor in Guidance, Navigation and Control at the Department of Engineering Cybernetics, NTNU in 1993, and now teaches mathematical modeling of marine craft and control theory. He is one of the founders of the company Marine Cybernetics, where he was Vice President in R&D between 2002 and 2007. Professor Fossen was a senior scientific advisor for ABB, Kongsberg and MARINTEK in 2002. He was involved in the design of nonlinear and passive state estimators for marine vessels, autopilots, trajectory tracking and maneuvering control, identification of ship dynamics from sea-trials and strapdown DGPS/INS navigation systems. He was granted a patent for weather optimal positioning control of marine vessels in 1998 and in 2002 this work won the Automatica Prize Paper Award. Professor Fossen has authored 250 scientific papers and three international textbooks, one of which being the John Wiley and Sons publication Guidance and Control of Ocean Vehicles in 1994. In 2008 his paper entitled Nonlinear Observer for Vehicle Estimation won the Arch T. Colwell Merit Award at the SAE 2008 World Congress.