11澳大利亚船舶运动控制和模型.pdfVIP

Ship Motion Control and Models (Module 9) Dr Tristan Perez Prof. Thor I Fossen Centre for Complex Dynamic Department of Engineering Systems and Control (CDSC) Cybernetics 03/09/2007 One-day Tutorial, CAMS07, Bol, Croatia 1 Guidance, Navigation and Control (GNC) 03/09/2007 One-day Tutorial, CAMS07, Bol, Croatia 2 Guidance, Navigation and Motion Control Guidance: is the action or the system that continuously computes the reference (desired) position, velocity and acceleration of a vessel to be used by the control system. These data are usually provided to the human operator and the navigation system. Navigation is derived from the Latin navis, ship, and agere, to drive. It originally denoted the art of ship driving, including steering and setting the sails. This includes planning and execution of safe, timely, and economical operation of ships, underwater vehicles, aircraft, and spacecraft. Control: is the action of determining the necessary control forces and moments to be provided by the vessel in order to satisfy a certain control objective. 03/09/2007 One-day Tutorial, CAMS07, Bol, Croatia 3 Guidance system Generates the desired trajectories (position, velocity and acceleration). The waypoint generator establishes the desired wayponits according to mission, operator decision, weather, fleet operations, amount of power available etc. The waypoint management system updates the active waypoint based on the current position of the ship. The reference computing algorithms generate a smooth feasible trajectory based on a reference model, the ship actual position, amount of power available, and the active way point. 03/09