CH3 Part2

1
TTK 4190 Guidance and Control (T. I. Fossen) Lecture Notes 2005
Chapter 3 - Dynamics of Marine Vessels

3.1 Rigid-Body Dynamics
3.2 Hydrodynamic Forces and Moments
3.3 6 DOF Equations of Motion
3.4 Model Transformations Using Matlab
3.5 Standard Models for Marine Vessels
M~ +CO+O+DO+O+gOÔUpg
o
w
M - system inertia matrix (including added mass)
CO+O- Coriolis-centripetal matrix (including added mass)
DO+O- damping matrix
gOÔ - vector of gravitational/buoyancy forces and moments
p - vector of control inputs
g
o
- vector used for pretrimming (ballast control)
w - vector of environmental disturbances (wind, waves and currents)

2
A floating or submerged vessel can be pretrimmed by pumping water between the
ballast tanks of the vessel. This implies that the vessel can be trimmed in heave,
pitch and roll:

3.2.4 Ballast Systems
z Uz
d,
-U-
d
, e Ue
d
3 modes with restoring forces/moment
Steady-state solution:
M~ +CO+O+DO+O+gOÔUpg
o
w
X X X X
gO^
d
OUg
o
w
^
d
U>, >, >, z
d
, -
d
, e
d
, >
where
The ballast vector g
o
is computed by using hydrostatic analyses.
main equation for ballast computations

3
Consider a marine vessel with n ballast tanks of volumes V
i
V
i,max
(i=1,,n).

For each ballast tank the water volume is defined:
V
i
Oh
i
OU+
o
h
i
A
i
OhOdh 4A
i
h
i
, (A
i
OhOUconstant)
A(h)
i i
h
i
V
i
W
i
g
x
z
zoom in
Z
ballast
U
iU1
n
W
i
U_g
iU1
n
V
i
The gravitational forces W
i
in heave are:

4
Restoring moments due to the heave force Z
ballast
:
r
i
b
Ux
i
, y
i
, z
i
, Oi U1, 4, nO Ballast tanks location with respect to O:

K
ballast
U_g
iU1
n
y
i
V
i
M
ballast
U>_g
iU1
n
x
i
V
i
#
#
m Ur f
U
x
y
z
0
0
Z
ballast
U
yZ
ballast
>xZ
ballast
0
#
g
o
U
0
0
Z
ballast
K
ballast
M
ballast
0
U_g
0
0
iU1
n
V
i
iU1
n
y
i
V
i
>
iU1
n
x
i
V
i
0
Resulting
ballast
model:

5
Conditions for Manual Pretrimming

Trimming is usually done under the assumptions that and are small such:
Reduced order system (heave, roll, and pitch):
-
d
e
d
gO^
d
O4G^
d
G
r
U
>Z
z
0 >Z
e
0 >K
-
0
>M
z
0 >M
e
g
o
r
U_g
iU1
n
V
i
iU1
n
y
i
V
i
>
iU1
n
x
i
V
i
^
d
r
Uz
d
, -
d
, e
d
w
r
Uw
3
, w
4
, w
5
G
r
^
d
r
Ug
o
r
w
r
-
>Z
z
0 >Z
e
0 >K
-
0
>M
z
0 >M
e
z
d
-
d
e
d
U
_g
iU1
n
V
i
w
3
_g
iU1
n
y
i
V
i
w
4
>_g
iU1
n
x
i
V
i
w
5
#
Steady-state
condition:
This is a set of linear
equations where
the volumes V
i

can be found by
assuming that w
i
=0
(zero disturbances)

6
Assume that the disturbances in heave, roll, and pitch have means of zero.
Consequently:

and

can be written:
>Z
z
0 >Z
e
0 >K
-
0
>M
z
0 >M
e
z
d
-
d
e
d
U
_g
iU1
n
V
i
w
3
_g
iU1
n
y
i
V
i
w
4
>_g
iU1
n
x
i
V
i
w
5
w
r
Uw
3
, w
4
, w
5
U0
H]Uy
-
_g
1 } 1 1
y
1
} y
n>1
y
n
>x
1
} >x
n>1
>x
n
V
1
V
2
_
V
n
U
>Z
z
z
d
>Z
e
e
d
>K
-
-
d
>M
z
z
d
>M
e
e
d
#
#
]UH
.
y UH
OHH
O
>1
y
The water volumes V
i
is found by using the pseudo-inverse:

7
Example (Semi-Submersible Ballast Control) Consider a semi-submersible
with 4 ballast tanks located at
In addition, yz-symmetry implies that
P P
P
P
P P
V
1
V
2
V
4
V
3
x
b
y
b
O
p
1
p
2
p
3
+
+
+
r
1
b
U>x, >y, r
2
b
Ux, >y, r
3
b
Ux, y,r
4
b
U>x, y
Z
e
UM
z
U0
H U_g
1 1 1 1
>y >y y y
x >x >x x
y U
>Z
z
z
d
>K
-
-
d
>M
e
e
d
U
_gA
wp
O0Oz
d
_g_GM
T
-
d
_g_GM
L
e
d
]U
V
1
V
2
V
3
V
4
U
1
4_g
1 >
1
y
1
x
1 >
1
y
>
1
x
1
1
y
>
1
x
1
1
y
1
x
_gA
wp
O0Oz
d
_g_GM
T
-
d
_g_GM
L
e
d
]UH
.
y UH
OHH
O
>1
y
Inputs:
z
d
, -
d
, e
d

8
An example of a highly sophisticated pretrimming system is the
SeaLaunch trim and heel correction system (THCS):
SeaLaunch:
This system is designed such
that the platform maintains
constant roll and pitch angles
during changes in weight. The
most critical operation is when
the rocket is transported from
the garage on one side of the
platform to the launch pad.
During this operation the
water pumps operate at their
maximum capacity to
counteract the shift in weight.
A feedback system controls the pumps to maintain the
correct water level in each of the legs during
transportation of the rocket

9
Automatic Pretrimming using Feedback from
In the manual pretrimming case it was assumed that w
r
=0. This assumption can
be removed by using feedback.

The closed-loop dynamics of a PID-controlled water pump can be described by a
1st-order model with amplitude saturation:

T
j
(s) is a positive time constant
p
j
(m/s) is the volumetric flow rate pump j
p
d
j
is the pump set-point.

The water pump capacity is different for
positive and negative flow directions:
z
d
, -
d
, e
d
T
j
p~
j
p
j
UsatOp
d
j
O
satOp
d
j
OU
p
j,max
p
j
p
j,max
p
d
j
p
j,max
>
p
d
j
p
j,max
p
j,max
>
p
d
j
p
j,max
>
0.63 O
O CE ,
O
O CE ,
O
4
+

10
Example (Semi-Submersible Ballast Control, Continues): The water flow
model corresponding to the figure is:
P P
P
P
P P
V
1
V
2
V
4
V
3
x
b
y
b
O
p
1
p
2
p
3
+
+
+
V
~
1
U>p
1
V
~
2
U>p
3
V
~
3
Up
2
p
3
V
~
4
Up
1
>p
2
Tp~p UsatOp
d
O
]~ULp
#
#
]U
V
1
V
2
V
3
V
4
, p U
p
1
p
2
p
3
, L U
>1 0 0
0 0 >1
0 1 1
1 >1 0

11
-
T
-1
L sat( )
.
p
p
d
g
o
( )

r
-
ballast
controller
G
r
Closed-loop pump dynamics with water volume as output

r
r
( ) G
r -1
Steady-state relationship for
water volume and trim
G
r
^
r
Ug
o
r
O]Ow
r
Feedback control system:
p
d
UH
pid
OsOG
r
O^
d
r
>^
r
O
H
pid
OsOUdiag^h
1,pid
OsO, h
2,pid
OsO, . . . , h
m,pid
OsO+
Tp~p UsatOp
d
O
]~ULp
#
#
Equilibrium equation: Dynamics:

12
SeaLaunch Trim and Heel Correction System (THCS)

13

14
SM
Marine Segment

15
0 187.5 375 562.5 750 937.5 1125 1312.5 1500
2
1.5
1
0.5
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
5.5
6
Roll and pitch during launch
time (secs)
r
o
l
l

a
n
d

p
i
t
c
h

(
d
e
g
)

420 430 440 450 460 470
2
0
2
4
6
Measured pitch during launch
time (secs)
P
i
t
c
h

a
n
g
l
e

(
d
e
g
)
4.21
0.95
A
1
jp
470 420 jp
20 10 0 10 20 30
2
0
2
4
6
Calculated pitch motions
time (secs)
p
i
t
c
h

a
n
g
l
e

(
d
e
g
)
4.326
0.202
Z
4
l
180
29.775 15
Z
1
l
roll
pitch
Roll and pitch angles during lift-off
CNN
10th October 1999

16
3.3 6 DOF Equations of Motion
Body-Fixed Vector Representation

M ~ +CO+O+DO+O+gOÔUpg
o
w
~ ÛJOÔ+
#
#
M UM
RB
M
A
CO+OUC
RB
O+OC
A
O+O
DO+OUD
P
O+OD
S
O+OD
W
O+OD
M
O+O
#
#
#
NED Vector Representation
Kinematic transformation (assuming that exists-i.e., ): J
>1
OÔ e 4=[/2
~ ^ U JOÔ+ q + U J
>1
OÔ~ ^
^: U JOÔ~ +
~
JOÔ+ q ~ + U J
>1
OÔ: ^>
~
JOÔJ
>1
OÔ~ ^
M
OÔUJ
>
OÔM J
>1
OÔ
C
O+, ÔUJ
>
OÔCO+O>MJ
>1
OÔ
~
JOÔJ
>1
OÔ
D
O+, ÔUJ
>
OÔDO+OJ
>1
OÔ
g
OÔUJ
>
OÔgOÔ #
M
OÔ: ^C
O+, Ô~ ^D
O+, Ô~ ^g
OÔUJ
>
OÔOpg
o
wO

17
3.3.1 Nonlinear Equations of Motion

(1) M
OÔUM
OÔ
0 -^
6
(2) s
~
M
OÔ>2C
O+, Ôs U0 -s
6
, +
6
, ^
6
(3) D
O+, Ô 0 -+
6
, ^
6
Properties of the NED Vector Representation
if M UM
0 and
~
M U0.
It should be noted that C
O+, Ôwill not be skew-symmetrical although CO+Ois skew-symmetrical.

M
OÔ: ^C
O+, Ô~ ^D
O+, Ô~ ^g
OÔUJ
>
OÔOpg
o
wO

18

M U
m >X
u~
>X
v~
>X
w~
>X
v~
m >Y
v~
>Y
w~
>X
w~
>Y
w~
m >Z
w~
>X
p~
>mz
g
>Y
p~
my
g
>Z
p~
mz
g
>X
q~
>Y
q~
>mx
g
>Z
q~
>my
g
>X
r~
mx
g
>Y
r~
>Z
r~
>X
p~
mz
g
>X
q~
>my
g
>X
r~
>mz
g
>Y
p~
>Y
q~
mx
g
>Y
r~
my
g
>Z
p~
>mx
g
>Z
q~
>Z
r~
I
x
>K
p~
>I
xy
>K
q~
>I
zx
>K
r~
>I
xy
>K
q~
I
y
>M
q~
>I
yz
>M
r~
>I
zx
>K
r~
>I
yz
>M
r~
I
z
>N
r~
Property (System Inertia Matrix) For a rigid body the system inertia matrix is
strictly positive if and only if M
A
>0, that is:

If the body is at rest (or at most is moving at low speed) under the assumption of
an ideal fluid, the zero-frequency system inertia matrix is always positive definite,
that is

where:
M UM
RB
M
A
0
M UM
0
M 4M

19
Property (Coriolis and Centripetal Matrix): For a rigid body moving
through an ideal fluid the Coriolis and centripetal matrix can always be
parameterized such that it is skew-symmetric, that is

If M is nonsymmetric, we write M as the sum of a symmetric and skew-
symmetric matrix:

where

This implies that we can compute C from

CO+OU>C
O+O, -+
6
1
2
+
OM>M
O+U0 M 0 T U
1
2
+
M+U
1
2
+
M
-
+0
M U
1
2
OMM
O
1
2
OM>M
O
M
-
UM
-
U
1
2
OMM
O0
M
-
UM
-
0

20
Assumption (Small Roll and Pitch Angles) The roll and pitch angles:

These are good assumptions for vessels where the pitch and roll motions are
limited-i.e., highly metacentric stable vessels

This assumption implies that:

where
3.3.2 Linearized Equations of Motion
-, eare small
^~UJOÔ+
-UeU0
4 POO+
POOU
ROO0
33
0
33
I
33

21
Definition (Vessel Parallel Coordinate System) The vessel parallel coordinate
system is defined as:

where is the NED position/attitude decomposed in body coordinates and P
is given by

Notice that P
T
P = I
66
.
^
p
UP
OO^
^
p
POOU
ROO0
33
0
33
I
33
NED
BODY
^
p
x
b
y
b
x
n
y
n

22
Low Speed Applications (Station-Keeping)
Vessel parallel (VP) coordinates implies:
^~
p
UP
~
OO^P
OO^~
UP
~
OOPOO^
p
P
OOPOO+
UrS^
p
+ #
where and
r U~
S U
0 1 0 0 0 0
>1 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
For low speed applications r 0. This gives a linear model:
^~
p
4+

23
The gravitational and buoyancy forces can also be expressed in terms of VP
coordinates. For small roll and pitch angles:

Notice that this formula confirms that the restoring forces of a leveled vessel
( ) is independent of the yaw angle .
gOÔ
-UeU0
4 P
OOGÛP
OOGPOO
G
^
p
UG^
p
-Ue U0
For a neutrally buoyant submersible (W=B) with x
g
=x
b
and y
g
=y
b
we have:

For a surface vessel G is defined as:
G Udiag^0, 0, 0, 0, Oz
g
>z
b
OW, Oz
g
>z
b
OW, 0+
G U
0
22
0
23
0
0
0
32
G
r
0
0
0 0 0 0 0 0
, G
r
U
>Z
z
0 >Z
e
0 >K
-
0
>M
z
0 >M
e
P
OOGPOO^G
Notice that:

24
Low-Speed Maneuvering and DP: implies that the nonlinear Coriolis,
centripetal, damping, restoring, and buoyancy forces and moments can be
linearized about and . Since C(0)=0 and D
n
(0)=0 it makes
sense to: approximate:
M+~CO+O+
0
D D
n
O+O+
D+
7
gOÔ
G^
p
Upg
o
w
^~
p
U+
M+~D+G^
p
Upw
#
#
+40
+U0 -Ue U0
The resulting state-space model becomes:
~ x UAx Bu Ew
A U
0 I
>M
>1
G >M
>1
D
, B U
0
M
>1
, E U
0
M
>1
x U^
p
, +
, u Up
which is the linear time invariant (LTI) state-space model used in DP.
ÛPOO^
p

25
Vessels in Transit (Cruise Condition):
For vessels in transit the cruise speed is assumed to satisfy:

This suggests that

where

u Uu
o
NOu
o
OU
+
^CO+O+DO+O++|
+U+
o
+
o
Uu
o
, 0, 0, 0, 0, 0
^~
p
U++
o
M+~NOu
o
O+G^
p
Upw
#
#
+U+>+
o
Linear parameter varying (LPV) model:
~ x UAOu
o
Ox Bu EwF+
o
AOu
o
OU
0 I
>M
>1
G >M
>1
NOu
o
O
, B U
0
M
>1
, E U
0
M
>1
, F U
I
0
x U^
p
, +

26
Models for ships, semi-submersibles, and underwater vehicles are usually
represented as one of the following subsystemes:

- Surge model: velocity u
- Maneuvering model (sway and yaw): velocities v and r
- Horizontal motion (surge, sway, and yaw): velocities u,v, and r

- Longitudinal motion (surge, heave, and pitch): velocities u,w, and q
- Lateral motion: (sway, roll, and yaw): velocities v,p, and r

or:

- Horizontal plane models: DOFs 1, 2, 6

- Longitudinal motion: DOFs 1, 3, 5
- Lateral motion: DOFs 2, 4, 6

3.5 Standard Models for Marine Vessels

27
The horizontal motion of a ship or
semi-submersible is described by
the motion components in surge,
sway, and yaw.

This implies that the dynamics
associated with the motion in heave,
roll, and pitch are neglected, that is
w=p=q=0.

3.5.1 3 DOF Horizontal Motion
+Uu, v, r
Ûn, e,
Low-speed applications-i.e., dynamically positioned ships where U0,

and maneuvering at high speed will now be treated separately.

28
Low-Speed Model for Dynamically Positioned Ship
Consider the 6 DOF kinematic expressions:

For small roll and pitch angles and no heave this reduces to:
R
b
n
OÒU
cce >sc-cses- ss-cc-se
sce cc-s-ses >cs-sesc-
>se ces- cec-
T
`
OÒU
1 s-te c-te
0 c- >s-
0 s-/ce c-/ce
JOÔU
R
b
n
OÒ 0
33
0
33
T
`
OÒ
JOÔ
3 DOF
U ROOU
cos >sin 0
sin cos 0
0 0 1

29
Assume that the ship has homogeneous mass distribution, xz-plane symmetry and y
g
=0:

M
RB
U
m 0 0 0 mz
g
>my
g
0 m 0 >mz
g
0 mx
g
0 0 m my
g
>mx
g
0
0 >mz
g
my
g
I
x
>I
xy
>I
xz
mz
g
0 >mx
g
>I
yx
I
y
>I
yz
>my
g
mx
g
0 >I
zx
>I
zy
I
z
M
A
U>
X
u~
X
v~
X
w~
X
p~
X
q~
X
r~
Y
u~
Y
v~
Y
w~
Y
p~
Y
q~
Y
r~
Z
u~
Z
v~
Z
w~
Z
p~
Z
q~
Z
r~
K
u~
K
v~
K
w~
K
p~
K
q~
K
r~
M
u~
M
v~
M
w~
M
p~
M
q~
M
r~
N
u~
N
v~
N
w~
N
p~
N
q~
N
r~
M
RB
U
m 0 0
0 m mx
g
0 mx
g
I
z
C
RB
O+OU
0 0 >mOx
g
r vO
0 0 mu
mOx
g
r vO >mu 0
M
A
U
>X
u~
0 0
0 >Y
v~
>Y
r~
0 >Y
r~
>N
r~
C
A
O+OU
0 0 Y
v~
v Y
r~
r
0 0 >X
u~
u
>Y
v~
v >Y
r~
r X
u~
u 0
X
X
X
X X
X

30
For the 3 DOF low speed model, M = M
T
and C = -C
T
, that is:

As for the system inertia matrix, linear damping in surge is decoupled from sway
and yaw. This implies that:

Linear damping is a good assumption for low-speed applications. Similarly the
quadratic velocity terms given by are negligible in DP
M U
m >X
u~
0 0
0 m >Y
v~
mx
g
>Y
r~
0 mx
g
>Y
r~
I
z
>N
r~
CO+OU
0 0 >Om >Y
v~
Ov >Omx
g
>Y
r~
Or
0 0 Om >X
u~
Ou
Om >Y
v~
Ov Omx
g
>Y
r~
Or >Om >X
u~
Ou 0
D U
>X
u
0 0
0 >Y
v
>Y
r
0 >N
v
>N
r
CO+O+

31
Resulting Low-Speed (DP) Model:

where

B is the control matrix describing the thruster configuration and u is the control input.

Nonlinear Maneuvering Model:
At higher speeds the assumptions that
This suggests the following 3 DOF nonlinear maneuvering model:
^~UROO+
M+~D+Up
#
#
pUBu
M = M
T
>0 and D = D
T
>0
DO+OUD D
n
O+O4D and CO+O40 are violated
^~UROO+
M+~CO+O+DO+O+Up
#
#

32
3.5.2 Decoupled Models for Forward
Speed/Maneuvering
For vessels moving at constant (or at least slowly-varying) forward speed:

the 3 DOF maneuvering model can be decoupled in a:

- Forward speed (surge subsystem)
- Sway-yaw subsystem for maneuvering

Forward Speed Model
Starboard-port symmetry implies that surge is decoupled from sway and yaw:

where is the sum of control forces in surge. Notice that both linear and quadratic
damping have been included in order to cover low- and high-speed applications.
U U u
2
v
2
4u
Om >X
u~
Ou~>X
u
u >X
|u|u
|u|u Up
1
p
1

33
Speed/Maneuvering
2 DOF Linear Maneuvering Model (Sway-Yaw Subsystem)
A linear maneuvering model is based on the assumption that the cruise speed:

while v and r are assumed to be small.

Representation 1 (see also lecture notes by Professor David Clark)
The 2nd and 3rd rows in the DP model

with u=u
o
, yields:
u Uu
o
4constant
CO+OU
0 0 >Om >Y
v~
Ov >Omx
g
>Y
r~
Or
0 0 Om >X
u~
Ou
Om >Y
v~
Ov Omx
g
>Y
r~
Or >Om >X
u~
Ou 0
CO+O+U
Om >X
u~
Ou
o
r
Om >Y
v~
Ou
o
v Omx
g
>Y
r~
Ou
o
r >Om >X
u~
Ou
o
v
U
0 Om >X
u~
Ou
o
OX
u~
>Y
v~
Ou
o
Omx
g
>Y
r~
Ou
o
v
r
#
CO+O4>CO+O
Notice that

34
Speed/Maneuvering
Assume that the ship is controlled by a single rudder:

and that linear damping dominates:

then:

where
pUb U
>Y
>N

DO+OUD D
n
O+O4D
M+~NOu
o
O+Ub
M U
m >Y
v~
mx
g
>Y
r~
mx
g
>Y
r~
I
z
>N
r~
NOu
o
OU
>Y
v
Om >X
u~
Ou
o
>Y
r
OX
u~
>Y
v~
Ou
o
>N
v
Omx
g
>Y
r~
Ou
o
>N
r
b U
>Y
>N
#
#
#
+Uv, r
This is the linear maneuvering model

as used by Clark, Fossen and others.

Developed from M
RB
, C
RB
, M
A
, C
A
Notice: N includes the famous
Munk moment and some other C
A
-terms

35
Speed/Maneuvering
2 DOF Linear Maneuvering Model (Sway-Yaw Subsystem)

Representation 2 (Davidson and Schiff 1946). Starts with Newtons law:

where linear terms in acceleration, velocity and rudder are added according to:

Notice: This approach does not included the C
A
-matrix. The resulting model is:

In this model the Munk moment is missing in the yaw equation. This is a destabilizing moment
known from aerodynamics which tries to turn the vessel. Also notice that two other less
important C
A
-terms are removed from N(u
o
) when compared to Representation 1.

M
RB
+~C
RB
O+O+Up
RB
p
RB
U>
Y

Y
v~
Y
r~
N
v~
N
r~
+~
Y
v
Y
r
N
v
N
r
+
M+~NOu
o
O+Ub
M U
m >Y
v~
mx
g
>Y
r~
mx
g
>Y
r~
I
z
>N
r~
, NOu
o
OU
>Y
v
mu
o
>Y
r
>N
v
mx
g
u
o
>N
r
, b U
>Y
>N

36
Speed/Maneuvering
1 DOF Autopilot Model (Yaw Subsystem)
A linear autopilot model for course control can be derived from the maneuvering model

by defining the yaw rate r as output:

Hence, application of the Laplace transformation yields (Nomoto 1957):

The 1st-order Nomoto model is obtained by defining the equivalent time constant as:
M+~NOu
o
O+Ub
r Uc
+, c
U0, 1
r
OsOU
KO1T
3
sO
O1T
1
sOO1T
2
sO
2nd-order Nomoto model
T UT
1
T
2
>T
3
r
OsOU
K
O1TsO
OsOU
K
sO1TsO
~Ur

37
3.5.3 Longitudinal and Lateral Models
The 6 DOF equations of motion can in many cases be divided into two non-
interacting (or lightly interacting) subsystems:

- Longitudinal subsystem: states u,w,q, and
- Lateral subsystem: states v,p,r, and

This decomposition is good for slender bodies (large length/width ratio). Typical
applications are aircraft, missiles, and submarines.
e

38
yz-plane of symmetry
(fore/aft symmetry)

M U
m
11
m
12
0 0 0 m
16
m
21
m
22
0 0 0 m
26
0 0 m
33
m
34
m
35
0
0 0 m
43
m
44
m
45
0
0 0 m
53
m
54
m
55
0
m
61
m
62
0 0 0 m
66
M U
m
11
0 m
13
0 m
15
0
0 m
22
0 m
24
0 m
26
m
31
0 m
33
0 m
35
0
0 m
42
0 m
44
0 m
46
m
51
0 m
53
0 m
55
0
0 m
62
0 m
64
0 m
66
M U
m
11
0 0 0 m
15
0
0 m
22
0 m
24
0 0
0 0 m
33
0 0 0
0 m
42
0 m
44
0 0
m
51
0 0 0 m
55
0
0 0 0 0 0 m
66
xy-plane of symmetry
(bottom/top symmetry):

xz-plane of symmetry
(port/starboard symmetry)
M Udiag^m
11
, m
22
, m
33
, m
44
, m
55
, m
66
+
xz-, yz- and xy-planes of symmetry
(port/starboard, fore/aft and bottom/top
symmetries).

39
Starboard-port symmetry implies the following zero elements:

The longitudinal and lateral submatrices are:
M U
m
11
0 m
13
0 m
15
0
0 m
22
0 m
24
0 m
26
m
31
0 m
33
0 m
35
0
0 m
42
0 m
44
0 m
46
m
51
0 m
53
0 m
55
0
0 m
62
0 m
64
0 m
66
M
long
U
m
11
m
13
m
15
m
31
m
33
m
35
m
51
m
53
m
55
, M
lat
U
m
22
m
24
m
26
m
42
m
44
m
46
m
62
m
64
m
66

40
Longitudinal Subsystem (DOFs 1, 3, 5)

R
b
n
OÒU
>se ces- cec-
T
`
OÒU
1 s-te c-te
0 c- >s-
0 s-/ce c-/ce
JOÔU
R
b
n
OÒ 0
33
0
33
T
`
OÒ
d
~
e
~
U
cos e 0
0 1
w
q

>sine
0
u
v, p, r, -are small
not controlling the N-position
using speed control instead
Resulting kinematic equation:

41
For simplicity, it is assumed that higher order damping can be neglected, that is
. Coriolis is, however, modelled by assuming that and that
2nd-order terms in v,w,p,q, and r are small. Hence, DOFs 1, 3, 5 gives:

Assuming a diagonal M
A
gives:

D
n
O+OU0 u 0
C
RB
O+O+4
0 0 0
0 0 >mu
0 0 mx
g
u
u
w
q
C
RB
O+O+U
mOy
g
q z
g
rOp >mOx
g
q >wOq >mOx
g
r vOr
>mOz
g
p >vOp >mOz
g
q uOq mOx
g
p y
g
qOr
mOx
g
q >wOu >mOz
g
r x
g
pOv mOz
g
q uOw OI
yz
q I
xz
p >I
z
rOp O>I
xz
r >I
xy
q I
x
pOr
Collecting terms in u,w, and q, gives:
C
RB
O+O4>C
RB
O+O
The skew-symmetric property is
destroyed for the decoupled model:
C
A
O+O+U
>Z
w~
wq Y
v~
vr
>Y
v~
vp X
u~
uq
OZ
w~
>X
u~
Ouw ON
r~
>K
p~
Opr
4
0 0 0
0 0 X
u~
u
0 OZ
w~
>X
u~
Ou 0
u
w
q

42
The restoring forces with W=B and x
g
=x
b
:

gOÔU
OW>BOsine
> OW>BOcos esin-
> OW>BOcos ecos -
> Oy
g
W>y
b
BOcos ecos - Oz
g
W>z
b
BOcos esin-
Oz
g
W>z
b
BOsine Ox
g
W>x
b
BOcos ecos -
> Ox
g
W>x
b
BOcos esin- > Oy
g
W>y
b
BOsine
gOÔU
0
0
WBG
z
sine

43
m >X
u~
>X
w~
mz
g
>X
q~
>X
w~
m >Z
w~
>mx
g
>Z
q~
mz
g
>X
q~
>mx
g
>Z
q~
I
y
>M
q~
u~
w~
q~

>X
u
>X
w
>X
q
>Z
u
>Z
w
>Z
q
>M
u
>M
w
>M
q
u
w
q
0 0 0
0 0 >Om >X
u~
Ou
0 OZ
w~
>X
u~
Ou mx
g
u
u
w
q
0
0
WBG
z
sine
U
p
1
p
3
p
5
m >Z
w~
>mx
g
>Z
q~
>mx
g
>Z
q~
I
y
>M
q~
w~
q~

>Z
w
>Z
q
>M
w
>M
q
w
q
0 >Om >X
u~
Ou
o
OZ
w~
>X
u~
Ou
o
mx
g
u
o
w
q
0
BG
z
Wsine
U
p
3
p
5
#
u Uu
o
Uconstant

44
Linear pitch dynamics (decoupled):

where the natural frequency is:
OI
y
>M
q~
Oe
:
>M
q
e
~
BG
z
We Up
5
_
e
U
BG
z
W
OI
y
>M
q~
O

45
Lateral Subsystem (DOFs 2, 4, 6)

R
b
n
OÒU
>se ces- cec-
T
`
OÒU
1 s-te c-te
0 c- >s-
0 s-/ce c-/ce
JOÔU
R
b
n
OÒ 0
33
0
33
T
`
OÒ
not controlling the E-position
using heading control instead
Resulting kinematic equation:
-
~
Up
~Ur
#
#
u, w, p, r, -and eare small

46
Again it is assumed that higher order velocity terms can be neglected so that
. Hence:

Assuming a diagonal M
A
gives:
D
n
O+OU0
Collecting terms in v,p, and r, gives:
C
RB
O+O4>C
RB
O+O
The skew-symmetric property is
destroyed for the decoupled model:
C
RB
O+O+U
>mOy
g
p wOp mOz
g
r x
g
pOq >mOy
g
r >uOr
>mOy
g
q z
g
rOu mOy
g
p wOv mOz
g
p >vOw O>I
yz
q >I
xz
p I
z
rOq OI
yz
r I
xy
p >I
y
qOr
mOx
g
r vOu mOy
g
r >uOv >mOx
g
p y
g
qOw O>I
yz
r >I
xy
p I
y
qOp OI
xz
r I
xy
q >I
x
pOq
C
RB
O+O+4
0 0 mu
o
0 0 0
0 0 mx
g
u
o
v
p
r
C
A
O+O+U
Z
w~
wp >X
u~
ur
OY
v~
>Z
w~
Ovw OM
q~
>N
r~
Oqr
OX
u~
>Y
v~
Ouv OK
p~
>M
q~
Opq
4
0 0 >X
u~
u
0 0 0
OX
u~
>Y
v~
Ou 0 0
v
p
r

47
The restoring forces with W=B, x
g
=x
b
and y
g
=z
g
:

gOÔU
OW>BOsine
> OW>BOcos esin-
> OW>BOcos ecos -
> Oy
g
W>y
b
BOcos ecos - Oz
g
W>z
b
BOcos esin-
Oz
g
W>z
b
BOsine Ox
g
W>x
b
BOcos ecos -
> Ox
g
W>x
b
BOcos esin- > Oy
g
W>y
b
BOsine
gOÔU
0
WBG
z
sin-
0

48
u Uu
o
Uconstant
m >Y
v~
>mz
g
>Y
p~
mx
g
>Y
r~
>mz
g
>Y
p~
I
x
>K
p~
>I
zx
>K
r~
mx
g
>Y
r~
>I
zx
>K
r~
I
z
>N
r~
v~
p~
r~

>Y
v
>Y
p
>Y
r
>M
v
>M
p
>M
r
>N
v
>N
p
>N
r
v
p
r
0 0 Om >X
u~
Ou
0 0 0
OX
u~
>Y
v~
Ou 0 mx
g
u
v
p
r
0
WBG
z
sin-
0
U
p
2
p
4
p
6
m >Y
v~
mx
g
>Y
r~
mx
g
>Y
r~
I
z
>N
r~
v~
r~

>Y
v
>Y
r
>N
v
>N
r
v
r
0 Om >X
u~
Ou
o
OX
u~
>Y
v~
Ou
o
mx
g
u
o
v
r
U
p
2
p
6
#

49
Linear roll dynamics (decoupled):

where the natural frequency is:
OI
x
>K
p~
O-
:
>K
p
-
~
WBG
z
-Up
4
_
-
U
BG
z
W
OI
x
>K
p~
O

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1

, Oi U1, 4, nO Ballast tanks location with respect to O:

Closed-loop pump dynamics with water volume as output

O+, ^Owill not be skew-symmetrical although CO+Ois skew-symmetrical.

Low-speed applications-i.e., dynamically positioned ships where U0,

This is the linear maneuvering model

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