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MANEUVERING AND CONTROL OF MARINE VEHICLES

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Author: Michael S. Triantafyllou Franz S. Hover
Url: http://ocw.mit.edu/courses/mechanical-engineering/2-154-maneuvering-and-control-of-surface-and-underwater-vehicles-13-49-fall-2004/lecture-notes/1349_notes.pdf
Format: Pdf
Year: 2003
Category: Naval Architecture
Pages: 152
Clicks: 1680

Description
Contents: KINEMATICS OF MOVING FRAMES; VESSEL INERTIAL DYNAMICS; NONLINEAR COEFFICIENTS IN DETAIL; VESSEL DYNAMICS: LINEAR CASE; SIMILITUDE;CAPTIVE MEASUREMENTS; STANDARD MANEUVERING TESTS; STREAMLINED BODIES; SLENDER-BODY THEORY; PRACTICAL LIFT CALCULATIONS; FINS AND LIFTING SURFACES; PROPELLERS AND PROPULSION; ELECTRIC MOTORS; TOWING OF VEHICLES; TRANSFER FUNCTIONS & STABILITY; CONTROL FUNDAMENTALS; MODAL ANALYSIS; CONTROL SYSTEMS LOOPSHAPING; LINEAR QUADRATIC REGULATOR; KALMAN FILTER; LOOP TRANSFER RECOVERY; APPENDIX 1: MATH FACTS; APPENDIX 2: ADDED MASS VIA LAGRANGIAN DYNAMICS; APPENDIX 3: LQR VIA DYNAMIC PROGRAMMING.

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