Abstract
In this paper we present a method for obtaining a second order Nomoto model that describes the yaw dynamic of a Patrol River Boat. This model is obtained from experimental input and output data gathered from the turning circle maneuver. System identifications techniques and a gray box model are employed to find the coefficients of the Nomoto model. The results of the identification process as well as the results of validation process are presented
Highlights
According to the International Maritime Organization, IMO, the International Association of IMCA Marine Contractors, and other classes of certification societies, a dynamic positioning vessel is related to the automatic control of the position of the vessel and the course with respect to one or more position references for the use of active propellers [1]
These models are obtained by eliminating the deviation speed from to get the Nomoto transfer function between r and δR, which is: To obtain a simplified mathematical model that represents the dynamics in an approximate way, identification techniques were used
As a second identification technique, the use of the method of least squares using as input the rudder angle and as output the variation of the angle, in order to achieve a gray box model that would allow to associate the parameters with the coefficients or indices of a first order Nomoto model
Summary
According to the International Maritime Organization, IMO, the International Association of IMCA Marine Contractors, and other classes of certification societies, a dynamic positioning vessel is related to the automatic control of the position of the vessel and the course with respect to one or more position references for the use of active propellers [1]. Obtaining First and Second Order Nomoto Models of a Fluvial Support Patrol using Identification Techniques are small disturbances of nominal values Second order Nomoto equation A second-order deviation-yaw model is obtained from the motion equations with 3 degrees of freedom and uncoupled in advance, assuming small perturbations we have: Governance equiations
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