Ship Motion Control: Course Keeping and Roll Stabilisation Using Rudder and FinsSpringer Science & Business Media, 30/03/2006 - 300 من الصفحات engineers into a single volume whilst concentrating on two important research control design problems: autopilots with rudder-roll stabilization and fin and combined rudder-fin stabilization. He has been guided by some of the leading marine control academics, in particular Mogens Blanke and Thor Fossen; indeed Chapters 3 and 4 on kinematics and kinetics of ship motion are jointly authored with Professor Fossen. There are some 240 cited references – an invaluable resource for interested readers. The volume is likely to appeal to a wide range of readers who will each be able to extract something different from the various parts of the monograph. Part I has some four chapters on the modelling fundamentals including kinematics, dynamics and actuators. Part II is a very useful survey of the ship roll stabilization problem and how ship roll performance is measured and assessed. This clearly motivates the human necessity for roll-reduction and roll stabilization. Parts III and IV move on to the control systems aspects of the various stabilization designs. Valuable material here includes a study of system performance limitations as caused by the presence of non-minimum phase characteristics and actuator saturation. Chapter 10 has an interesting historical review of these marine control problems stretching back some thirty-years into the 1970s. |
المحتوى
XX | 37 |
Kinematics of Ship Motion | 45 |
Ship Kinetics | 59 |
Control Surfaces Actuators | 93 |
Summary and Discussion | 109 |
Ship Motion Performance | 127 |
8 | 145 |
Constrained Performance Limitations 177 | 176 |
Stabilisation and Fin Stabilisers | 193 |
Stabilisation | 221 |
Constrained Control of Fin Stabilisers | 251 |
A Observers and Kalman Filtering | 265 |
Naval Vessel 273 | 272 |
283 | |
297 | |
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عبارات ومصطلحات مألوفة
accelerations actuator amplitude angle of attack autopilot b-frame beam seas bilge keels Chapter coefficients components considered constraints control action control design control problem control system design damping defined describe disturbance dynamic dynamic stall effective angle encounter angles encounter frequency equations of motion estimate Euler angles example expressed feedback filter fin stabilisers flow fluid foil forces and moments frequency domain hull hydrodynamic ITTC Kalman Filter linear manoeuvring matrix metacentric height model predictive control motion RAO NMP zero obtained operation optimal control output parameters quartering seas reference frames response amplitude operators roll angle roll motion roll reduction rudder angle rudder stabilisers sailing conditions seakeeping Section ship motion control ship roll stabilisation shown in Figure simulation sinusoidal state-space stochastic sway transformation variables vector velocity vessel wave frequency wave height xx xx xx yaw angle