Download or read book State space Modeling and Optimal Control of Ship Motions in a Seastate written by Talha Ulusoy and published by . This book was released on 2006 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) The development from first principles of a reliable ship motion control simulation method based on SWAN and its coupling with LQ controllers used to actively regulate the angle of attack of lifting appendages, circumvents the need to perform sea trials or model experiments that are harder, time-consuming and expensive to carry out. The performance of the method is illustrated for a catamaran vessel fitted with bow and stern hydrofoils. Simulations of the vessel motions were performed with and without the effect of the controller in regular and random waves. It is concluded that the combination of the proposed state-space model with the LQ controller was very effective in reducing the undesired motions of the vessel in waves over a wide range of wave frequencies and ship speeds.
Download or read book Model Based Monitoring and Statistical Control written by Kohei Ohtsu and published by . This book was released on 2024-06 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Minimizing Ship Motions written by Donald A. Gall and published by . This book was released on 1964 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Optimal Control Theory Applied to Ship Maneuvering in Restricted Waters written by Brian S. Thomas (S.M.) and published by . This book was released on 2005 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ship drivers have long understood that powerful interaction forces exist when ships operate in close proximity to rigid boundaries or other vessels. Controlling the effects of these forces has been traditionally handled by experienced helmsmen. The purpose of this research is to apply modern optimal control theory to these maneuvering scenarios in order to show that helmsman may some day be replaced by modern controllers. The maneuvering equations of motion are cast in a linear state space framework, permitting the design of a linear quadratic (LQ) controller. In addition, the hydrodynamic effects are modeled using potential flow theory in order to simulate the interaction forces and test the efficacy of the controller. This research demonstrates that the linear quadratic regulator effectively controls ship motions due to the presence of a boundary or other vessel over a broad range of speeds and separation distances. Furthermore, the method proposed provides stable control in the presence of additional. stochastic disturbances.
Download or read book Handbook of Marine Craft Hydrodynamics and Motion Control written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 2021-03-22 with total page 736 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz
Download or read book Nonlinear Industrial Control Systems written by Michael J. Grimble and published by Springer Nature. This book was released on 2020-05-19 with total page 778 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Industrial Control Systems presents a range of mostly optimisation-based methods for severely nonlinear systems; it discusses feedforward and feedback control and tracking control systems design. The plant models and design algorithms are provided in a MATLAB® toolbox that enable both academic examples and industrial application studies to be repeated and evaluated, taking into account practical application and implementation problems. The text makes nonlinear control theory accessible to readers having only a background in linear systems, and concentrates on real applications of nonlinear control. It covers: different ways of modelling nonlinear systems including state space, polynomial-based, linear parameter varying, state-dependent and hybrid; design techniques for nonlinear optimal control including generalised-minimum-variance, model predictive control, quadratic-Gaussian, factorised and H∞ design methods; design philosophies that are suitable for aerospace, automotive, marine, process-control, energy systems, robotics, servo systems and manufacturing; steps in design procedures that are illustrated in design studies to define cost-functions and cope with problems such as disturbance rejection, uncertainties and integral wind-up; and baseline non-optimal control techniques such as nonlinear Smith predictors, feedback linearization, sliding mode control and nonlinear PID. Nonlinear Industrial Control Systems is valuable to engineers in industry dealing with actual nonlinear systems. It provides students with a comprehensive range of techniques and examples for solving real nonlinear control design problems.
Download or read book Multidimensional Discrete State space Modeling Optimal Control and Tracking of the Linear Distributed parameter Systems written by Allen Moshfegh and published by . This book was released on 1990 with total page 678 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Framework for Ship Stability in a Seastate Using the State space Fokker Planck Method written by David F. H. Larson and published by . This book was released on 2018 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ships sailing on the ocean have many inherent dangers. One of the most compelling is when they interact with severe stochastic waves, resulting in a loss of stability and adversely affecting their operation. This can result in extreme motions, at the very least making life difficult for crew, to potentially the most catastrophic events capsize, and loss of cargo and life. This compels the need to reliably predict vessel responses to wave interactions in order to aid the decision-making process for operating the ship safely. Despite the advances in computational methods and stochastic hydrodynamic theories to this date, a general framework, capable of handling nonlinear three-dimensional effects, arbitrary wave headings and unconventional hull geometries, is still missing from the engineer's toolbox. This thesis presents a new methodology for modeling the nonlinear responses and stability of a ship in stochastic waves. Invoking the weak-scatterer hypothesis, the radiation and diffraction effects are linearized, computed via a panel method, and cast into a state-space form, aided by applying the ESPRIT algorithm. Strong free surface nonlinearities present in the Froude-Krylov exciting and hydrostatic restoring forces are modeled by Fluid Impulse Theory. In parallel, the ambient seastate is represented by a multidimensional stochastic differential equation (SDE) conforming to a prescribed spectrum. Combining the state-space and seastate models capacitates the study of the nonlinear seakeeping and stability of a ship in a broad range of stationary seastates via stochastic calculus methods. Chief among them is the use of the Fokker-Planck equation (FPE), a deterministic partial differential equation governing the joint probability density function of the states of the SDE. The formulation for a rectangular barge rolling in beam waves is presented, with the approach readily extendable to six-degree-of-freedom responses. By deriving a state-space stochastic differential equation for the states governing the vessel response motions, the joint probability density can be found either by numerical Monte-Carlo simulation of the SDE, or by numerically solving the associated FPE.
Download or read book Dissertation Abstracts International written by and published by . This book was released on 2004 with total page 820 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Transactions The Society of Naval Architects and Marine Engineers written by Society of Naval Architects and Marine Engineers (U.S.) and published by . This book was released on 1989 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: List of members in vols. 1-24, 38-54, 57.
Download or read book Automatic Control Systems for Longitudinal Motion of Semisubmerged Ships written by Gilbert Finley Monell (Jr) and published by . This book was released on 1972 with total page 113 pages. Available in PDF, EPUB and Kindle. Book excerpt: Optimal control theory is used to develop three automatic control systems for the longitudinal motion of a semisubmerged ship. A linearized mathematical model of the ship motion is used and the control problem is treated as a linear regulator. Simulations of the ship's longitudinal motions, utilizing the three control systems, are compared for various sea conditions. It is concluded that if the wave forces and moments are known or are estimated as functions of time, a suboptimal controller is the best controller. However, if a frequency domain approach is used to estimate the wave forces and moments, the complexity of a suboptimal controller approaches that of an optimal controller and the difference between the two is negligible. (Author).
Download or read book Sampled Data Adaptive Digital Computer Control of Surface Ship Maneuvers written by John Joseph Uhrin (III.) and published by . This book was released on 1976 with total page 372 pages. Available in PDF, EPUB and Kindle. Book excerpt: The replenishment at sea (RAS) maneuver is studied in detail for heading and speed control. Design of purposefully nonlinear control laws is accomplished for the Mariner hull using the linearized equations of motion in three degrees of freedom. Extensive use of low order modeling and optimal control theory was made. Procedure steps are presented in detail to facilitate redesign for other ship types. The results are verified using DSL simulation for a number of possible RAS scenarios. The control systems are also tested in a sea state to insure proper operation in the presence of external perturbations.
Download or read book Modeling Simulation and Control of a Dynamically Positioned Vessel Using Optimal Control Techniques written by Erik Charles Tiemroth and published by . This book was released on 1981 with total page 476 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Two dimensional Discrete State space Modeling State Estimator observer and Optimal Control written by Hamed Abdullah Suraisry and published by . This book was released on 2000 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Motion Control MC 98 written by D. Georges and published by Pergamon. This book was released on 1999 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: Paperback. This workshop comprised three plenary sessions, three invited sessions and fifty-six regular papers which were selected by the International Programme Committee and came from twenty-one countries. The three plenary sessions covered the following topics: Control of Self-Optimizing Exercise Machines; Motion Control Problems in Automotive Control; and Control for Simulated Human and Animal Motion. The three invited sessions were devoted to: Non Holonomic Motion Control; Hybrid Control of Mechanical Systems; and Intelligent Motion Control. The regular sessions covered the following domains: Friction and Backlash; High Precision Motion Control; Actuators and Sensors; Mobile Robots and Non Holonomic Systems; Automotive Control; Rigid Robot Control; Flexible Structures; Walking Robots; High Precision Motion Control; Motion Control; AC Motor Drives; and Intelligent Motion Control.
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1984 with total page 1278 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Aeronautical Journal written by and published by . This book was released on 2002 with total page 758 pages. Available in PDF, EPUB and Kindle. Book excerpt:
