Module overview
This module provides the fundamental concepts associated with the principles of manoeuvring and control theory, with a focus on vehicles operating on or below the air water interface. There is one assignment which integrates manoeuvring hydrodynamic data into the control of a marine vehicle.
Linked modules
Pre-requisite: SESS2015
Aims and Objectives
Learning Outcomes
Knowledge and Understanding
Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:
- Manoeuvring theory based on fundamental principles and concepts providing an appreciation of the limitations of the theory as applied to hull and control surface design. (Contributing to EAB accreditation LOs: SM1, SM2, SM7, EA1, EA6M)
- The concept of stability concepts and effect of feedback control on sensitivity. (Contributing to EAB accreditation LOs: EA3, EA4)
- Model or full scale trials to assess the manoeuvrability and controllability of marine vehicles operating in calm and/or restricted waters.(Contributing to EAB accreditation LOs: EA1, P2)
- The principles of control theory through familiarising the students with various input/output descriptions of dynamic systems and frequency domain descriptions and dynamic analysis. (Contributing to EAB accreditation LOs: SM1, SM2, SM7, EA1, EA4)
- The safe operation of a vessel through the development of stability criteria and their application. (Contributing to EAB accreditation LOs: SM1, SM7, EA1, EA6M)
- The measurement of hydrodynamic data required in an assessment of directional stability. (Contributing to EAB accreditation LOs: EA3)
Subject Specific Practical Skills
Having successfully completed this module you will be able to:
- Apply basic methods of classical control system design such as root locus and phase lead-lag. (Contributing to EAB accreditation LOs: EA3)
Syllabus
Description
Part A; 18 lectures on:
Ship Manoeuvring
- Body axes, translations and angular velocities
- Transformation of axes.
- General equations of motion in calm water.
- Linearised equations of symmetric motion.
- Linearised equations of antisymmetric motion.
- Fluid actions and slow motion derivatives.
- Measurements of slow motion derivatives (tow and rotating arm tests).
- Measurements of oscillatory coefficients (planar motion mechanism).
- Control surfaces and derivatives.
- Directional stability criteria (Routh-Hurwitz test functions).
- Details of types of stability.
- Manoeuvring trials (stability: pull out and spiral (Dieudonne)).
- Manoeuvring trials (control: circle and zig-zag (Kempf)).
- Effects of variables on design (speed, trim, draught, etc).
- Rudder actions and characteristics.
- Nomoto's equations, T-K parameters.
Part B; 18 lectures on:
Ship Control:
- Introduction to control including concepts of block diagrams, open and closed loop systems.
- Modelling of dynamic systems in time and S-domains including concepts of transfer functions and state space modelling techniques.
- Characteristics of dynamic systems including system response of 1st and 2nd order systems, performance metrics, system stability and concepts of poles and zeros.
- Control and analysis of dynamic systems including PID controllers, root locus plots and applications to marine vehicles.
Controllability of a marine vehicle. This assignment integrates Parts A and B, through the use of hydrodynamic derivatives developed in Part A for the control system design of a marine vehicle.
Learning and Teaching
Teaching and learning methods
Teaching methods include
- Lectures
- Tutorials focussed on example sheets
Learning activities include
- Directed reading/independent learning
- Example sheets for problem solving exercises
- Project assignment using a prototype marine vehicle
- Report-writing for the assignment
- Use of software / programming through the assignment.
Type | Hours |
---|---|
Lecture | 36 |
Practical classes and workshops | 3 |
Completion of assessment task | 30 |
Revision | 34 |
Preparation for scheduled sessions | 4 |
Follow-up work | 33 |
Wider reading or practice | 10 |
Total study time | 150 |
Resources & Reading list
General Resources
Resources and reading list. Available on blackboard
Assessment
Summative
This is how we’ll formally assess what you have learned in this module.
Method | Percentage contribution |
---|---|
Final Assessment | 70% |
Continuous Assessment | 30% |
Referral
This is how we’ll assess you if you don’t meet the criteria to pass this module.
Method | Percentage contribution |
---|---|
Set Task | 100% |
Repeat
An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.
Method | Percentage contribution |
---|---|
Set Task | 100% |
Repeat Information
Repeat type: Internal & External