Trajectory Following
This case demostrates the trajectory following of the Gunnerus ship.
Table 1: FMUs
| Model | FMU | Description |
|---|---|---|
| Hull | VesselFmu | 6DOF hull model including the environment model |
| Main Thruster | PMAzimuth | Two Azimuth thrusters as the main propulsion |
| Thruster Drive | ThrusterDrive | Thruster drive calculates the rmp of the thruster given the desired thrust command (propulsion force) [1] |
| Power Plant | PowerPlant | Provides power to the thruster drive [2] |
| Waypoint Provider | WaypointProvider2DOF | Reference position of the ship |
| Trajectory controller | TrajectoryController.fmu | Calculates the propulsion force and and azimuth angle(s) based on the waypoints |
References
[1] S. Skjong, M. Rindarøy, L. T. Kyllingstad, V. Æsøy, and E. Pedersen, “Virtual prototyping of maritime systems and operations: applications of distributed co-simulations,” J. Mar. Sci. Technol., pp. 1–19, 2017.
[2] S. Skjong and E. Pedersen, “A real-time simulator framework for marine power plants with weak power grids,” Mechatronics, vol. 47, pp. 24–36, Nov. 2017.