MKM 611E - Modelling&Cont.of Mari.Vehic.

Course Objectives

1. Giving theoretical and practical information on differential equations of sea surface and submarine vehicles’ motion, hydrodynamic coefficients, linear and nonlinear equations of motion.
2. Giving theoretical and practical information on the force and moment effects of environmental sea and wind conditions.
3. To be done theoretical and applied studies on modeling of systems such as rudder, stabilizer fin, propulsion-propeller and related actuator systems used in marine vehicle control systems.
4. To be done applications on an underwater vehicle’s depth-pitch and heading motions’ modeling and control.
5. To be done classical and advanced control system design and simulation studies for sea surface vehicles such as maneuvering, optimal trim, dynamic position, roll damping.

Course Description

Introduction of marine vehicles’ motions and control systems; floating vessels’ hydrodynamics; enviromental forces and moments; seakeeping theory, the frequency-domain and the time-domain models including fluid memory effects; nonlinear 6 DOF equations of marine vehicles’ motion, nonlinear and linearized maneuvering model, autopilot models for heading control; models and control methods for underwater vehicles; sensor and navigation systems, actuator models, motion control systems.