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Handbook of Marine Craft Hydrodynamics and Motion Control [Other digital carrier]

  • Formāts: Other digital carrier, 596 pages, height x width x depth: 244x168x15 mm, weight: 666 g
  • Izdošanas datums: 29-Apr-2011
  • Izdevniecība: John Wiley & Sons Inc
  • ISBN-10: 1119994136
  • ISBN-13: 9781119994138
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  • Other digital carrier
  • Cena: 165,25 €
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Handbook of Marine Craft Hydrodynamics and Motion Control
  • Formāts: Other digital carrier, 596 pages, height x width x depth: 244x168x15 mm, weight: 666 g
  • Izdošanas datums: 29-Apr-2011
  • Izdevniecība: John Wiley & Sons Inc
  • ISBN-10: 1119994136
  • ISBN-13: 9781119994138
Citas grāmatas par šo tēmu:
Permanent link: https://www.kriso.lv/db/9781119994138.html
Keywords:
The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed.

Key features include:

  • a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and Control Systems; and Appendices, providing all the supporting theory in a single resource
  • kinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces 
  • guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craft
  • state-of-the-art methods for feedback control
  • more advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made.
  • linear and nonlinear stability theory, and numerical methods 
  • companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink® toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures

With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory, decision-support systems and sensor fusion. www.wiley.com/go/fossen_marine

About the Author xv Preface xvii List of Tables xix I Marine Craft
Hydrodynamics 1 1 Introduction 3 1.1 Classification of Models 6 1.2 The
Classical Models in Naval Architecture 7 1.3 Fossen s Robot-Like Vectorial
Model for Marine Craft 12 2 Kinematics 15 2.1 Reference Frames 16 2.2
Transformations between BODY and NED 20 2.3 Transformations between ECEF and
NED 34 2.4 Transformations between BODY and FLOW 39 3 Rigid-Body Kinetics
45 3.1 Newton Euler Equations of Motion about CG 45 3.2 Newton Euler
Equations of Motion about CO 49 3.3 Rigid-Body Equations of Motion 51 4
Hydrostatics 59 4.1 Restoring Forces for Underwater Vehicles 59 4.2
Restoring Forces for Surface Vessels 62 4.3 Load Conditions and Natural
Periods 68 4.4 Ballast Systems 74 5 Seakeeping Theory 81 5.1 Hydrodynamic
Concepts and Potential Theory 82 5.2 Seakeeping and Maneuvering Kinematics
85 5.3 The Classical Frequency-Domain Model 90 5.4 Time-Domain Models
including Fluid Memory Effects 96 5.5 Case Study: Identification of Fluid
Memory Effects 104 6 Maneuvering Theory 109 6.1 Rigid-Body Kinetics 110
6.2 Potential Coefficients 111 6.3 Nonlinear Coriolis Forces due to Added
Mass in a Rotating Coordinate System 115 6.4 Viscous Damping and Ocean
Current Forces 122 6.5 Maneuvering Equations 128 7 Models for Ships,
Offshore Structures and Underwater Vehicles 133 7.1 Maneuvering Models (3
DOF) 133 7.2 Autopilot Models for Heading Control (1 DOF) 142 7.3 DP Models
(3 DOF) 152 7.4 Maneuvering Models Including Roll (4 DOF) 158 7.5 Equations
of Motion (6 DOF) 167 8 Environmental Forces and Moments 187 8.1 Wind
Forces and Moments 188 8.2 Wave Forces and Moments 199 8.3 Ocean Current
Forces and Moments 221 II Motion Control 227 9 Introduction 229 9.1
Historical Remarks 229 9.2 The Principles of Guidance, Navigation and
Control 232 9.3 Setpoint Regulation,Trajectory-Tracking and Path-Following
Control 235 9.4 Control of Underactuated and Fully Actuated Craft 235 10
Guidance Systems 241 10.1 Target Tracking 242 10.2 Trajectory Tracking 246
10.3 Path Following for Straight-Line Paths 254 10.4 Path Following for
Curved Paths 266 11 Sensor and Navigation Systems 285 11.1 Low-Pass and
Notch Filtering 287 11.2 Fixed Gain Observer Design 292 11.3 Kalman Filter
Design 296 11.4 Nonlinear Passive Observer Designs 310 11.5 Integration
Filters for IMU and Global Navigation Satellite Systems 328 12 Motion
Control Systems 343 12.1 Open-Loop Stability and Maneuverability 343 12.2
PID Control and Acceleration Feedback 365 12.3 Control Allocation 398 13
Advanced Motion Control Systems 417 13.1 Linear Quadratic Optimal Control
418 13.2 State Feedback Linearization 451 13.3 Integrator Backstepping 457
13.4 Sliding-Mode Control 519 Appendices 529 A Nonlinear Stability Theory
531 A.1 Lyapunov Stability for Autonomous Systems 531 A.2 Lyapunov
Stability of Nonautonomous Systems 535 B Numerical Methods 541 B.1
Discretization of Continuous-Time Systems 541 B.2 Numerical Integration
Methods 544 B.3 Numerical Differentiation 547 References 549 Index 567