LEADER 06695nam 2200733Ia 450 001 9910958581703321 005 20200520144314.0 010 $a1-61209-860-6 035 $a(CKB)2560000000070419 035 $a(EBL)3018998 035 $a(SSID)ssj0000474606 035 $a(PQKBManifestationID)12166790 035 $a(PQKBTitleCode)TC0000474606 035 $a(PQKBWorkID)10454740 035 $a(PQKB)10296852 035 $a(MiAaPQ)EBC3018998 035 $a(Au-PeEL)EBL3018998 035 $a(CaPaEBR)ebr10662804 035 $a(OCoLC)704541711 035 $a(BIP)27059314 035 $a(EXLCZ)992560000000070419 100 $a20090423d2009 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aYacht modelling and adaptive control /$fChengmo Xiao and Sing Kiong Nguang 205 $a1st ed. 210 $aNew York $cNova Science Publishers$dc2009 215 $a1 online resource (xiii, 151 pages) $cillustrations 225 1 $aTransportation issues, policies and R&D series 300 $aDescription based upon print version of record. 311 0 $a1-60741-430-9 320 $aIncludes bibliographical references and index. 327 $aIntro -- YACHT MODELLING AND ADAPTIVECONTROL -- YACHTMODELLINGANDADAPTIVECONTROL -- Contents -- List of Tables -- List of Figures -- Abstract -- Introduction -- 1.1. Introduction to Ship Motion Control Problem -- 1.2. Review on Ship Motion Control Strategies -- 1.3. Yacht Motion Control Problems -- 1.3.1. The Overlooked Study on Yacht Motion Control -- 1.3.2. What Is the Difference of Yacht Motion Control? -- 1.3.3. Why Adaptive Control? -- 1.4. What Is the New Contribution In This Book? -- 1.5. How Is This Book Organized? -- Yacht Mathematic Modelling:Hydrodynamics Analysis -- 2.1. Introduction -- 2.2. The Yacht Motion Coordinate Frame -- 2.3. Derivation of Motion Equations for Marine Vessels -- 2.3.1. A Particular Case of Ship Motion Analysis -- 2.3.2. The More General Case of Ship Motion Analysis -- 2.3.3. Simplification on Ship Motion Equations -- 2.4. Yacht Hydrodynamics Analysis -- 2.5. Disturbances Analysis -- 2.5.1. Wind Disturbance -- 2.5.2. Wave and Current Disturbances -- 2.6. SimulinkTM Implementation of the Chosen 12-metreAmerica's Cup Yacht -- 2.7. Summary -- Yacht Mathematic Modelling:Parameter Identification -- 3.1. Introduction -- 3.2. Yacht's Model Identification and Simplification -- 3.2.1. Recursive Prediction Error Method (RPEM) -- 3.2.2. Identification of Transfer Function -- 3.3. Numeric Results of Yacht Identification -- 3.3.1. Spectrum Analysis on Heading, Rolling and Rudder Angles -- 3.3.2. Responses of Yaw and Roll Motion to the Rudder -- 3.3.3. Sensitivity to Wind Disturbances -- 3.3.4. Illustrations on Parameter Estimation -- 3.4. Summary -- Adaptive Self-Tuning PID YachtAutopilots: LQR Approach -- 4.1. Introduction -- 4.2. LQR Self-tuning PID Autopilot Design -- 4.2.1. LQR Self-tuning PD Control Algorithm -- 4.2.2. LQR Self-tuning PID Control Algorithm -- 4.2.3. Analysis of the PD and PID Autopilot Algorithms. 327 $a4.2.3.1. Boundaries on w0 and x -- 4.2.3.2. Gains Comparison on LqrPD and LqrPID Autopilots -- 4.3. Simulations and Results Comparisons -- 4.3.1. Simulations on LQR Tuned PD Autopilots -- 4.3.2. Simulations on LQR Tuned PID Autopilots -- 4.4. Stability Analysis -- 4.5. Summary -- Adaptive Self-tuning PD YachtSteering Control: H¥ Approach -- 5.1. Introduction -- 5.2. H¥ Auto-tuning PD Autopilot Design -- 5.2.1. Review of H¥ Theory -- 5.2.2. H¥ Tuned PD Autopilot Design -- 5.2.3. Constraints Analysis on Choosing Parameters w0 and x -- 5.3. Simulations Study -- 5.3.1. Calm Sea Steering Control -- 5.3.2. Comparisons on Robust and Adaptive H¥ Tuned PD Autopilot -- 5.3.3. Comparisons on Adaptive H¥ PD and LQR Tuned PD/PID Autopilots -- 5.4. Stability Study -- 5.5. Summary -- Adaptive Yacht Rudder-RollDamping and Steering Control -- 6.1. Introduction -- 6.2. Yacht Steering and Roll Damping Control:Adaptive LQR Strategy -- 6.2.1. LQR Steering Autopilot Design -- 6.2.2. LQR Roll Damping Controller Plus PD Steering Control -- 6.2.3. LQR Steering and Roll Damping Controller -- 6.3. LQR Steering and Roll Damping Control Simulation -- 6.3.1. Comparison of PID and Adaptive LQR Autopilots for Yacht SteeringControl -- 6.3.2. Simulation Analysis of the Designed Adaptive LQR Roll Damping Autopilots -- 6.3.3. Results Analysis of the Designed LQR Steering and Roll Damping Autopilots -- 6.4. Summary -- Online Adaptive LQR AutopilotDesign Based on Genetic Algorithms -- 7.1. Introduction -- 7.2. Review of Genetic Optimization -- 7.3. The Online Adaptive LQR Autopilot Design by GA Algorithm -- 7.3.1. Brief Review of the Yacht Mathematical Model -- 7.3.2. Review of Adaptive LQR Autopilot Design -- 7.3.3. The Development of a Full-Adaptive LQR Controller Tuned by GA -- 7.4. Simulation Study -- 7.4.1. Determination of Minimum Size of Population and Generation. 327 $a7.4.2. Control Performance Comparison on the Ship "Sea Scout" -- 7.4.3. Control Performance Comparison on the Yacht -- 7.5. Summary -- Conclusions and Future's Work -- 8.1. General Conclusions -- 8.2. Suggestions for Future Research -- Appendix -- A.1. Measurements for the 12-metre America's Cup RacingYacht -- A.2. Coefficients for the 12-metre America's Cup Racing Yacht -- A.3. Added Mass of the Simulated Yacht -- References -- Index. 330 $aThe autopilot system which integrates the electronic hardware and the control algorithms has become standard use for commercial and military marine vessels, and is becoming essential equipment for smaller marine vessels such as leisure boats and yachts. 410 0$aTransportation issues, policies and R&D series. 606 $aYachts$xDesign and construction 606 $aYachts$xTecnological innovations 606 $aStability of ships 606 $aMotion control devices 606 $aAutomatic pilot (Ships) 606 $aSteering-gear 606 $aGlobal Positioning System 615 0$aYachts$xDesign and construction. 615 0$aYachts$xTecnological innovations. 615 0$aStability of ships. 615 0$aMotion control devices. 615 0$aAutomatic pilot (Ships) 615 0$aSteering-gear. 615 0$aGlobal Positioning System. 676 $a623.82/023 700 $aXiao$b Chengmo$01866064 701 $aNguang$b Sing Kiong$0763499 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910958581703321 996 $aYacht modelling and adaptive control$94473329 997 $aUNINA