Course Overview
The course focuses on mathematical modelling and design of control systems for various marine operations, motion control, positioning, manoeuvring, machinery systems, and propulsion systems for ships, underwater vehicles, and floating marine structures. This includes dynamic positioning, thruster-assisted position mooring, motion damping, propellers, thrusters, rudders, electrical power generation, and distribution for maritime electrical installations.
Course Highlights
Application areas are shipping, offshore oil and gas, offshore renewables, fisheries and aquaculture, and ocean science. Process knowledge, including mathematical modelling is emphasized. Introduction to conventional linear monovariable (SISO) and multivariable (MIMO) control and observer designs (PID, LQG, Kalman filtering, hybrid control, etc.) for marine applications will be given. Methods for the design and operation of autonomous ships and underwater vehicles will be introduced. This includes situational awareness and risk-based control. It will also provide an overview of implementation aspects, including signal processing, filtering, and signal detection. Methods for analysis and design of time-discrete control systems, including sampling of time-continuous systems, input-output models, z-transform, poles and zeroes, and stability analysis. Aspects related to the safety and performance of marine control systems, and authority and class requirements, will be treated.
MAIN GOAL
After the course is completed the students shall be able to develop mathematical models and design control systems for propulsion and motion controllers for ships, underwater vehicles and other floating structures based on fundamental physical laws and observed relations
Learning Outcomes
After completion of this course, you will gain the ability to:
- + Understand the concept of mathematical modeling for design, analysis and verification of marine control systems for ships, rigs, underwater vehicles and slender structures.
- + Develop both advanced numerical simulation models for testing and verification as well as simplified models used in model-based marine control systems.
- + Understand the fundamental structure and architecture in marine control systems from low-level control of motors and propellers to high-level control and optimization of references subject to the particular marine operation, desired behavior and constraints.
- + Understand the fundamental principles of computer-controlled systems, signal processing, filtering and fault detection.
- + Design and analyze controllers for dynamic positioning, thruster assisted position mooring, motion control, machinery systems and power management systems.
- + Apply classical linear monovariable and multivariable control and observer theory (PID, LQG, Kalman filering, hybrid control, ..)
- + Understand the main principles for design and operation of autonomous marine systems.
- + Understand fundamental safety requirements from class societies and authorities for testing, verification and certification of marine control systems.
Meet Your Instructors
Course coordinator
Professor
Admissions
Entry Requirements
- + It is recommended to study this course in series with TMR4243 Marine Control Systems II
- + It is also recommended to study the course TTK4190 Guidance and Control.
- + Control Engineering (TTK4105, TTK4111, IELET2002, AIS2002) or similar is a prerequisite.
Teaching and Assessment Methods
- + Lectures
- + Student project in dynamic positioning (DP), where the students will design and implement some basic DP control functions and test these on a simulation model. A report shall be submitted on the project results.
- + Written exam and project work are the basis for the grade in the course. A letter grade is given for each part and a final letter grade will be assigned.
- + Postponed/repeated exams may be oral. Students do not need to redo the lab project if they passed, upon a later retake of the written exam.
Application Deadline: TBC.
Practical Notes
- + Lecture Notes: Marine Cybernetics: Towards Autonomous Marine Operations and Systems, NTNU and selected papers.
Fees & Funding
Tuition Fees
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Course Info
Contact Asgeir Johan Sørensen for any additional information relating to this course.