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Maneuvering and Control of Surface and Underwater Vehicles

3-0-9 units · Graduate

Maneuvering motions of surface and underwater vehicles. Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion. Control surfaces modeling and design. Engine, propulsor, and transmission systems modeling and simulation during maneuvering. Stability of motion. Principles of multivariable automatic control. Optimal control, Kalman filtering, loop transfer recovery. Term project: applications chosen from autopilots for surface vehicles; towing in open seas; remotely operated vehicles.

Fall 2004 · Maneuvering and Control of Surface and Underwater Vehicles (13.49)

Topics

  • Introduction, Equations of Motion
  • Equations of Motion
  • Linearized Equations of Motion, Stability
  • Hydrodynamics and Similitude
  • Lifting Surfaces and Fins
  • Standard Tests for Maneuvering
  • Streamlined Vehicles
  • Slender Body Theory
  • Forces at Large Angle of Attack
  • Towed Vehicles
  • Control Systems Introduction
  • Loopshaping
  • PID Controller Design
  • Multivariable Control
  • Kalman Filter and Loop Transfer Recovery
  • Dynamic Positioning
  • Propeller Modelling
  • Engine Modelling
  • Engine Modelling (cont.)
  • Unsteady Behavior of Propulsion Systems
  • Vorticity Effects and Control
  • Design of Swimming Animals
  • Nonlinear Forces on Submarines

Readings

  • Hoerner, S. Fluid Dynamic Drag. Bakersfield, CA: Hoerner Fluid Dynamics, 1993. ISBN: 9789993623939.
    Listed reading
  • ———. Fluid Dynamic Lift. 2nd ed. Bakersfield, CA: Hoerner Fluid Dynamics, 1992. ISBN: 9789998831636.
    Listed reading
  • Blevins, R. Applied Fluid Dynamics Handbook. New York, NY: Van Nostrand Reinhold Company, 1984. ISBN: 9780442212964.
    Listed reading
  • Comstock, J., ed. Principles of Naval Architecture. Jersey City, NJ: Society of Naval Architects and Marine Engineers, 1967. ASIN: B000GVDR30.
    Listed reading
  • Fossen, T. Guidance and Control of Ocean Vehicles. New York, NY: John Wiley & Sons, 1994. ISBN: 9780471941132.
    Listed reading
  • Morgan, M. Dynamic Positioning of Offshore Vessels. Tulsa, OK: PennWell Corp., 1978. ISBN: 9780878140442.
    Listed reading
  • Ogata, K. Modern Control Engineering. 4th ed. Upper Saddle River, NJ: Prentice Hall, 2001. ISBN: 9780130609076.
    Listed reading

Prerequisites & course information

Prereq: 2.22 G (Fall) 3-0-9 units

Sources