Ship Motion Control

Abstract

The impact of control system design on ship performance has been significantin different applications of ship motion control: course keeping,station keeping, roll stabilisation and vertical motion/riding control,diving, path following, etc. This monograph introduces ship motioncontrol by studying the particular problems of control system designfor course autopilots with rudder roll stabilisation and combinedrudder-fin stabilisers. Ship Motion Control revisits the ingredientsthat make these control designs challenging and proposes a contemporarycontrol system design approach to meet that challenge.The key ingredients for a successful ship motion control system designare:� appropriate mathematical models of the ship and the disturbances;� understanding of how performance will be assessed;� knowledge of fundamental limitations that may prevent designs fromachieving the desired performance.The book is organised in four parts, the first three dealing witheach of these and the fourth part addressing control system design.Specific topics covered include:� modelling and simulation of ocean waves;� ship dynamics;� models of actuators;� ship roll stabilisation devices;� ship motion performance;� analysis of fundamental limitations for stabiliser control systemdesign;� constrained control design via optimisation;� autopilot design using optimal control;� wave filtering;� control system design for autopilots with rudder roll stabilisation;� control system design for integrated rudder-fin stabiliser.Ship Motion Control will be of interest not only to the practisingmarine engineer but to the academic engaged in research into thisimportant control problem, even if new to the area. It will alsobe an ideal source of reference for students and tutors involvedwith marine and control engineering courses.