Orientation guidance and control for Marine vehicles in the horizontal plane.

58 Pages·0.49 MB·en_US

by  Suwandee, Prouttichai.;Papoulias, Fotis A.

NAVAL POSTGRADUATE SCHOOL
Monterey, California
THESIS
ORIENTATION GUIDANCE AND CONTROL FOR
MARINE VEHICLES IN THE HORIZONTAL PLANE
by
Prouttichai Suwandee
June, 1991
Thesis Advisor: Fotis A. Papoulias
Approved for public release; distribution is unlimited.
T256313

Unclassified
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11 TITLE (Include Security Classification)
ORIENTATION GUIDANCE AND CONTROL FOR MARINE VEHICLES IN THE HORIZONTAL PLANE
12 PERSONAL AUTHOR(S)
Prouttichai Suwandee
13a TYPE OF REPORT 13b TIME COVERED 14 DATE OF REPORT (Year,Month, Day) 15 PAGE COUNT
M.S. Thesis FROM TO June 1991 49
16 SUPPLEMENTARY NOTATION
17 COSATI CODES 18 SUBJECT TERMS (Continue on reverse if necessary and identify by block number)
FIELD GROUP SUBGROUP Autonomous vehicles, Guidance and control,
Stability, Path keeping
19 ABS1RACT (Continue on reverse if necessary and identify by block number)
A pure pursuit guidance law and a heading autopilot are coupled inorder to provide
path control of submersibles or surface ships in the horizontal plane. Proper design of the
combined scheme allows for accurate path keeping during straight line motion. The
simulation results are extended to cover cases of step changes in the desired path. The
scheme provides a viable alternative to cross track error autopilots.
20 DISTRIBUTION/AVAILABILITY OF ABSTRACT 21 ABSTRACT SECURITY CIASSiriCATION
£]UNCLASSIFIED/UNLIMITED SAME AS RPT DTIC USERS llnrlassifjpd
22a NAME OF RESPONSIBLE INDIVIDUAL 22b TELEPHONE (Include AreaCode) 22c OFFICE SYMUOL
Fotis A. Papoulias (408) 6463381 ME/PA
DDForm 1473, JUN 86 Previouseditionsareobsolete SECURITY CLASSIFICATION OF THIS PAGE
S/N 0102-LF-01A-6603 Unclassified
Approved for public release; distribution is unlimited.
Orientation Guidance and Control for Marine
Vehicles in the Horizontal Plane
by
Prouttichai Suwandee
Lieutenant Commander, Royal Thai Navy
B.S., Royal Thai Navy Academy, Thailand
Submitted in partial fulfillment
of the requirements for the degree of
MASTER OF SCIENCE IN MECHANICAL ENGINEERING
from the
NAVAL POSTGRADUATE SCHOOL
June 1991
ABSTRACT
Apurepursuit guidancelaw and aheadingautopilotarecoupled inorder toprovide
path control of submersibles or surface ships in the horizontal plane. Proper design of the
combined scheme allows for accurate path keeping during straight line motion. The
simulation results are extended to cover cases of step changes in the desired path. The
scheme provides a viable alternative to cross track error autopilots.
in
.
TABLE OF CONTENTS
INTRODUCTION
I. 1
DEVELOPMENT OF MATHEMATICAL MODEL
II. 4
A. EQUATION OF MOTION 4
B. STATE SPACE EQUATION 7
C. PATH KEEPING DEVELOPMENT 8
1. Heading control 8
2. Desired characteristic equation 9
3. Pure pursuit navigation 10
COMPUTER SIMULATION
ffl. 13
PROGRAMMING
A.
13
MATRDCX
1. Program in 13
2. Program in FORTRAN 13
3. Graphics 14
B. DETAILS 14
1 Poles and gain 14
2. Distance in x-y axis 14
3. Distance in X-Y axis 14
IV. SIMULATION RESULTS 18
IV