Introduction
Welcome to OE3036: Maneuvering and Control of Marine Vehicles course. This set of course notes will act as the single document that the students need to refer to while taking this course.
Learning Outcomes
By the end of this course, students will be able to:
- Explain the governing equations of motion of a marine vehicle
- Characterize the straight line stability of a marine vehicle
- Explain the importance of hydrodynamic derivatives and their impact on maneuvering motions of a vehicle
- Explain the experimental model tests and full scale tests used in the design of marine vehicles
- Characterize the motion control problem for a marine vehicle
- Design, develop and tune a PID heading controller for a marine vehicle
- Setup an isolated development environment using Docker
- Maintain version control of code using git
- Use ROS2 for interfacing with sensors and sending control commands
- Demonstrate the combined dynamics of a marine vehicle and a controller in simulation and practical experiment
Practical
In the practical component, the students will develop a simulator for a ship and a control module for a marine vehicle. Students will learn to use the smartphone as the sensor suite and control the vehicle to perform waypoint tracking.
Course content
Maneuvering of Marine Vehicles
- Kinematics of rotating frame
- Nonlinear 6-DoF and 3-DoF rigid body equation of motion
- Nonlinear and linear hydrodynamic derivatives
- Linear equations of motion for ship
- Stability indices
- Stability and control in the horizontal and vertical planes
- Definitive manoeuvres turning tests
- Influence of ship features on controls fixed stability
- Experimental determination of hydrodynamic derivatives
- Numerical methods used in ship manoeuvring problems
- Ship manoeuvring simulators
- IMO Rules and Recommendations
- Ship manoeuvring sea trials
Control of Marine Vehicles
- Linear system representation and Laplace transforms
- Performance metrics for control systems
- State-space modelling and stability
- Interchange between state-space model and transfer function model
- PID controller and tuning its gains
- Observability and state observers
- Controlability and state feedback controllers
Schedule
The week to week schedule of the course is given below:
| Week | Content | Tutorial Assignment |
|---|---|---|
| 1 | Rigid body kinematics | Introduction to Docker |
| 2 | Rigid body dynamics | Introduction to git |
| 3 | Linearized maneuvering equations | Simulation of maneuvering motions in python |
| 4 | Controls fixed stability | Introduction to ROS2 inside a docker container |
| 5 | Nomoto models | Integration of simulator into ROS2 and demonstrate straight line stability in simulator |
| 6 | Turning circle maneuver | Understanding IMU sensor |
| 7 | Nonlinear maneuvering equations | Simulating IMU sensor in ROS2 simulation |
| 8 | Experimental model tests | Understanding GPS/UWB sensor |
| 9 | Full scale sea trials | Simulating GPS/UWB sensor in ROS2 simulation |
| 10 | Laplace transforms and transfer functions | Simulate turning circle and zigzag maneuvers in ROS2 simulation |
| 11 | Performance metrics of control systems | Simulate spiral and pull out maneuvers in ROS2 simulation |
| 12 | PID control for ship autopilots | Design of control system for specified performance metrics |
| 13 | Project completion | PID gain tuning and practical implementation in wave basin |