This chapter presents hydrodynamic models for ships, offshore structures and underwater vehicles. vehicles. It discusses nonlinear maneuvering models based on first principles such as surge resistance and cross‐flow drag, which have been approximated by second‐order modulus functions. The hydrodynamic coefficients can be experimentally determined by using a planar‐motion‐mechanism (PMM) system, which is a device for experimentally determining the hydrodynamic derivatives required in the equations of motion. Model‐based heading controllers for marine craft are usually based on the model representation of Nomoto et al. The chapter discusses a nonlinear dynamic positioning (DP) model based on current coefficients and linear exponential damping that can be used for accurate simulation and prediction. It describes 6 degrees of freedom (DOF) models, which are useful for prediction, simulation and control of marine craft performing coupled motions. A 6 DOF model is usually implemented in a computer to describe all dynamics effects as accurately as possible.

    hydrodynamics; marine vehicles; motion control; ships; underwater vehicles


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    Title :

    Models for Ships, Offshore Structures and Underwater Vehicles


    Contributors:


    Publication date :

    2011-04-08


    Size :

    54 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






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