The University of Southampton
Courses

# SESS3022 Ship Manoeuvring and Control

## 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 an autonomous underwater vehicle.

### Aims and Objectives

#### Module Aims

• Provide the student with an advanced knowledge base and understanding of manoeuvring theory applied to a marine vehicle operating in calm and/or restricted waters. • Provide an understanding of fundamental knowledge and techniques of control. • To develop tools to analyse control engineering problems by MATLAB software package.

#### 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
• The safe operation of a vessel through the development of stability criteria and their application
• The measurement of hydrodynamic data required in an assessment of directional stability
• Model or full scale trials to assess the manoeuvrability and controllability of marine vehicles operating in calm and/or restricted waters.
• The principles of control theory through familiarising the students with various input/output descriptions of dynamic systems and frequency domain descriptions and dynamic analysis.
• The concept of stability concepts and effect of feedback control on sensitivity.
• The application of the basic methods of classical control system design such as root locus and phase lead-lag compensation based on Bode plots

### 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 1 Introduction 1.1 System approach and block diagrams 1.2 Open loop systems 1.3 Closed loop systems. 1.4 Types of controllers. 1.5 Basics of control system design. 2 Analysis and Frequency Domain 2.1 S-plane relationship between time and frequency domain. 2.2 Transfer functions 2.3 Application of Routh-Hurwitz stability criterion 3 Frequency response 3.1 Nyquist diagrams 3.2 Bode diagrams 3.3 Root locus methods 3.5 Phase and gain margins 4 Performance Measures 4.1 Steady state error 4.2 Transient performance 4.3 Relationship of poles to phase and margins 5 Application of Theory to Marine Activities 5.1 Steering gear 5.2 Control fin action 5.3 Marine diesels Controllability of an Autonomous Underwater Vehicle (AUV): This assignment integrates Parts A and B, through the use of hydrodynamic derivatives developed in Part A for the control system design of an AUV.

### 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 AUV • Report-writing for the assignment • Use of commercial software through a design assignment.

TypeHours
Wider reading or practice9
Lecture34
Completion of assessment task30
Follow-up work36
Preparation for scheduled sessions4
Tutorial3
Revision34
Total study time150

#### Resources & Reading list

Resources and reading list. Available on blackboard

### Assessment

#### Summative

MethodPercentage contribution
Assignment 10%
Examination  (120 minutes) 70%
Example Sheets 1.66%
Example Sheets 1.66%
Example Sheets 1.66%
Example Sheets 1.66%
Example Sheets 1.66%
Example Sheets 1.7%
Quiz 5%
Quiz 5%

#### Referral

MethodPercentage contribution
Examination 100%

#### Repeat Information

Repeat type: Internal & External