Kinematic Models for Manoeuvring and Seakeeping of Marine Vessels
Open Access
- 1 January 2007
- journal article
- Published by Norwegian Society of Automatic Control in Modeling, Identification and Control: A Norwegian Research Bulletin
- Vol. 28 (1), 19-30
- https://doi.org/10.4173/mic.2007.1.3
Abstract
The motion of marine vessels has traditionally been studied using two different approaches: manoeuvring and seakeeping. These two approaches use different reference frames and coordinate systems to describe the motion. This paper derives the kinematic models that characterize the transformation of motion variables (position, velocity, accelerations) and forces between the different coordinate systems used in these theories. The derivations hereby presented are done in terms of the formalism adopted in robotics. The advantage of this formulation is the use of matrix notation and operations. As an application, the transformation of linear equations of motion used in seakeeping into body-fixed coordinates is considered for both zero and forward speedKeywords
This publication has 2 references indexed in Scilit:
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- On the use of Equilibrium Axes and Body Axes in the Dynamics of a Rigid ShipJournal of Mechanical Engineering Science, 1981