LEADER 05606nam 2200757 450 001 9910130864103321 005 20210208190349.0 010 $a1-283-40556-3 010 $a9786613405562 010 $a1-119-99868-9 010 $a1-119-99412-8 010 $a1-119-99413-6 035 $a(CKB)3460000000003367 035 $a(EBL)700460 035 $a(OCoLC)760887106 035 $a(SSID)ssj0000476942 035 $a(PQKBManifestationID)11324980 035 $a(PQKBTitleCode)TC0000476942 035 $a(PQKBWorkID)10480454 035 $a(PQKB)10187484 035 $a(MiAaPQ)EBC700460 035 $a(EXLCZ)993460000000003367 100 $a20160401h20112011 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aHandbook of marine craft hydrodynamics and motion control /$fThor I. Fossen 210 1$aChichester, England :$cWiley,$d2011. 210 4$dİ2011 215 $a1 online resource (597 p.) 300 $aDescription based upon print version of record. 311 $a1-119-99149-8 320 $aIncludes bibliographical references and index. 327 $aHANDBOOK OF MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL; Contents; About the Author; Preface; List of Tables; Part One: Marine Craft Hydrodynamics; 1 Introduction; 1.1 Classification of Models; 1.2 The Classical Models in Naval Architecture; 1.2.1 Maneuvering Theory; 1.2.2 Seakeeping Theory; 1.2.3 Unified Theory; 1.3 Fossen's Robot-Like Vectorial Model for Marine Craft; 2 Kinematics; 2.1 Reference Frames; 2.2 Transformations between BODY and NED; 2.2.1 Euler Angle Transformation; 2.2.2 Unit Quaternions; 2.2.3 Quaternions from Euler Angles; 2.2.4 Euler Angles from Quaternions 327 $a2.3 Transformations between ECEF and NED2.3.1 Longitude and Latitude Transformations; 2.3.2 Longitude and Latitude from ECEF Coordinates; 2.3.3 ECEF Coordinates from Longitude and Latitude; 2.4 Transformations between BODY and FLOW; 2.4.1 Definitions of Course, Heading and Sideslip Angles; 2.4.2 Sideslip and Angle of Attack; 3 Rigid-Body Kinetics; 3.1 Newton-Euler Equations of Motion about CG; 3.1.1 Translational Motion about CG; 3.1.2 Rotational Motion about CG; 3.2 Newton-Euler Equations of Motion about CO; 3.2.1 Translational Motion about CO; 3.2.2 Rotational Motion about CO 327 $a3.3 Rigid-Body Equations of Motion3.3.1 Nonlinear 6 DOF Rigid-Body Equations of Motion; 3.3.2 Linearized 6 DOF Rigid-Body Equations of Motion; 4 Hydrostatics; 4.1 Restoring Forces for Underwater Vehicles; 4.1.1 Hydrostatics of Submerged Vehicles; 4.2 Restoring Forces for Surface Vessels; 4.2.1 Hydrostatics of Floating Vessels; 4.2.2 Linear (Small Angle) Theory for Boxed-Shaped Vessels; 4.2.3 Computation of Metacenter Height for Surface Vessels; 4.3 Load Conditions and Natural Periods; 4.3.1 Decoupled Computation of Natural Periods 327 $a4.3.2 Computation of Natural Periods in a 6 DOF Coupled System4.3.3 Natural Period as a Function of Load Condition; 4.4 Ballast Systems; 4.4.1 Conditions for Manual Pretrimming; 4.4.2 Automatic Pretrimming using Feedback from z, ? and ?; 5 Seakeeping Theory; 5.1 Hydrodynamic Concepts and Potential Theory; 5.1.1 Numerical Approaches and Hydrodynamic Codes; 5.2 Seakeeping and Maneuvering Kinematics; 5.2.1 Seakeeping Reference Frame; 5.2.2 Transformation between BODY and SEAKEEPING; 5.3 The Classical Frequency-Domain Model; 5.3.1 Potential Coefficients and the Concept of Forced Oscillations 327 $a5.3.2 Frequency-Domain Seakeeping Models5.4 Time-Domain Models including Fluid Memory Effects; 5.4.1 Cummins Equation in SEAKEEPING Coordinates; 5.4.2 Linear Time-Domain Seakeeping Equations in BODY Coordinates; 5.4.3 Nonlinear Unified Seakeeping and Maneuvering Model with Fluid Memory Effects; 5.5 Case Study: Identification of Fluid Memory Effects; 5.5.1 Frequency-Domain Identification using the MSS FDI Toolbox; 6 Maneuvering Theory; 6.1 Rigid-Body Kinetics; 6.2 Potential Coefficients; 6.2.1 3 DOF Maneuvering Model; 6.2.2 6 DOF Coupled Motions 327 $a6.3 Nonlinear Coriolis Forces due to Added Mass in a Rotating Coordinate System 330 $aThe technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. 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