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dc.contributor.advisorFossen, Thor Ingenb_NO
dc.contributor.advisorHolden, Christiannb_NO
dc.contributor.authorHildrestrand, Jon Robert Sethnb_NO
dc.date.accessioned2014-12-19T14:01:27Z
dc.date.available2014-12-19T14:01:27Z
dc.date.created2010-09-02nb_NO
dc.date.issued2010nb_NO
dc.identifier347239nb_NO
dc.identifierntnudaim:5405nb_NO
dc.identifier.urihttp://hdl.handle.net/11250/259590
dc.description.abstractA ship out at sea is exposed to environmental forces in addition to those generated by the ship's actuators. It is these forces that make the ship move. However, in some cases the ship moves in an undesirable way. Because the moment of inertia in roll is smaller than the other moments of inertia, motion in roll becomes the least dampened of all the unwanted motions of a ship. Therefore, nowadays ships are often equipped with roll reducing devices. A common device is the anti-roll tank, which delivers its stabilizing moment by moving the tank fluid from side to side. The topic of this thesis is to study and analyze how the ship's dynamics in sway, roll and yaw is influenced by an u-shaped anti-roll tank and how to control the tank fluid to make a stabilizing moment in roll. In order achieve this, a 3 DOF lateral model of a ship equipped with a u-tank will be derived using Lagrangian mechanics. The model's validity will be analyzed by comparing it to a well known and proven model. In order to increase the u-tank's performance, several controllers, both passive and active, will be designed. Furthermore, the model with its controllers will be implemented in Matlab/Simulink and exposed to regular and irregular beam seas. The wave loads will be calculated from the Froude-Krylov forces and moments.nb_NO
dc.languageengnb_NO
dc.publisherInstitutt for teknisk kybernetikknb_NO
dc.subjectntnudaimno_NO
dc.subjectSIE3 teknisk kybernetikkno_NO
dc.subjectReguleringsteknikkno_NO
dc.titleModelling and Control of Anti-Roll Tanksnb_NO
dc.typeMaster thesisnb_NO
dc.source.pagenumber170nb_NO
dc.contributor.departmentNorges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikknb_NO


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