Orientation guidance and control for Marine vehicles in the horizontal plane. PDF
Preview Orientation guidance and control for Marine vehicles in the horizontal plane.
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 SECURITY CLASSIFICATION OF THIS PAGE REPORT DOCUMENTATION PAGE FormApproved OMBNo 0704 0188 la REPORT SECURITY CLASSIFICATION lb RESTRICTIVE MARKINGS Unclassified 2a SECURITY CLASSIFICATION AUTHORITY 3 DISTRIBUTION/AVAILABILITY OF REPORT Approved for public release 2b OECLASSIFICATION/DOWNGRADING SCHEDULE distribution is unlimited 4 PERFORMING ORGANIZATION REPORT NUMBER(S) 5 MONITORING ORGANIZATION REPORT NUMBER(S) 6a NAME OF PERFORMING ORGANIZATION 6b OFFICE SYMBOL la NAME OF MONITORING ORGANIZATION Naval Postgraduate School (If applicable) Naval Postgraduate School 6c ADDRESS (City, State, and ZIPCode) 7b ADDRESS(City, State, and ZIPCode) 8a NAME OF FUNDING/SPONSORING Bb OFFICE SYMBOL 9 PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER ORGANIZATION (If applicable) 8c ADDRESS(City, State,and ZIPCode) 10 SOURCE OF FUNDING NUMBERS PROGRAM PROJECT TASK WORK UNIT ELEMENT NO NO NO ACCESSION NO 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
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