An alternative to the seakeeping formalism is to use maneuvering theory to describe the motions of marine craft in 3 degrees of freedom (DOF), that is surge, sway and yaw. Sometimes roll is augmented to the horizontal plane model to describe more accurately the coupled lateral motions, that is sway‐roll‐yaw couplings while surge is left decoupled. In maneuvering theory, frequency‐dependent added mass and potential damping are approximated by constant values and thus it is not necessary to compute the fluid‐memory effects. The main results of this chapter are based on the assumption that the hydrodynamic forces and moments can be approximated at one frequency of oscillation such that the fluid‐memory effects can be neglected. The result is a nonlinear mass‐damper‐spring system with constant coefficients. The maneuvering model presented in the chapter is mainly intended for controller‐observer design, prediction and computer simulations in combination with system identification and parameter estimation. fluid oscillations; hydrodynamics; marine vehicles; motion control
Maneuvering Theory
2011-04-08
24 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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