The impact of control system design on ship performance has been significant in 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 motion control by studying the particular problems of control system design for course autopilots with rudder roll stabilisation and combined rudder-fin stabilisers. Ship Motion Control revisits the ingredients that make these control designs challenging and proposes a contemporary control system design approach to meet that challenge.

The key ingredients for a successful ship motion control system design are:

. appropriate mathematical models of the ship and the disturbances;

. understanding of how performance will be assessed;

. knowledge of fundamental limitations that may prevent designs from achieving the desired performance. The book is organised in four parts, the first three dealing with each 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 system design;

. 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 practising marine engineer but to the academic engaged in researchinto this important control problem, even if new to the area. It will also be an ideal source of reference for students and tutors involved with marine and control engineering courses.

Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Autorentext

Tristan Perez has a strong interest in the area of dynamic modelling nad control which has been focussed towards marine applications since his Ph.D. This book is the culmination of five years of research effort which has already given rise to the publication of refereed journal papers and professional magazine articles. He has also had industrial experience, working in a shipyard on the area of seakeeping (ship performance). The book is written with knowledge of the user's point of view because of this experience.

Doctor Perez transferred from the well-known and respected control group at The University of Newcastle, Australia to the Centre for Ships and Ocean Structures at the Norwegian University of Science and Technology in June 2004.

Zusammenfassung
engineers into a single volume whilst concentrating on two important research control design problems: autopilots with rudder-roll stabilization and fin and combined rudder-fin stabilization. He has been guided by some of the leading marine control academics, in particular Mogens Blanke and Thor Fossen; indeed Chapters 3 and 4 on kinematics and kinetics of ship motion are jointly authored with Professor Fossen. There are some 240 cited references an invaluable resource for interested readers. The volume is likely to appeal to a wide range of readers who will each be able to extract something different from the various parts of the monograph. Part I has some four chapters on the modelling fundamentals including kinematics, dynamics and actuators. Part II is a very useful survey of the ship roll stabilization problem and how ship roll performance is measured and assessed. This clearly motivates the human necessity for roll-reduction and roll stabilization. Parts III and IV move on to the control systems aspects of the various stabilization designs. Valuable material here includes a study of system performance limitations as caused by the presence of non-minimum phase characteristics and actuator saturation. Chapter 10 has an interesting historical review of these marine control problems stretching back some thirty-years into the 1970s.

Inhalt
Ship Modelling for Control.- Environmental Disturbances.- Kinematics of Ship Motion.- Ship Kinetics.- Control Surfaces (Actuators).- to Ship Motion Control.- to Ship Roll Stabilisation.- Ship Roll Stabilisation.- Ship Motion Performance.- Performance Limitations in Feedback Control with Application to Ship Roll Stabilisers.- Linear Performance Limitations.- Constrained Performance Limitations.- Control System Design for Autopilot with Rudder Roll Stabilisation and Fin Stabilisers.- Previous Research in Control of Rudder Roll Stabilisation and Fin Stabilisers.- Constrained Control via Optimisation.- Control System Design for Autopilots with Rudder Roll Stabilisation.- Constrained Control of Fin Stabilisers.