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Simulering av styrsystem för tankfartyg

The main purpose of this investigation was to compare, by simulations, the ability of an adaptive regulator and a PID-regulator to keep a ship on desired course with small rudder deflections. Manual steering in confined waters of the simulated ship was also performed. Recordings of delivery tests from real ships were compared to simulations. The non-linear mathematical model of the ship, which was

Duala regulatorer

Our task has been to compare the ability of three different regulators to control some single-input single-output systems with unknown parameters. The regulators were a minimal variance regulator, the Self-TUning REgulator STURE and an active suboptimally dual regulator. No simulations with the minimal variance regulator are shown since it turned out that it performs as STURE on systems with const

A nonlinear dynamical model and control of the feed water system on a turbine tanker

In this report we present a non-linear mathematical model of the feed water system onboard a 250 000 ton dwt turbine tanker in the Kockum Hull 540-series (Esso Dalriada). Well-known relations from the theory of fluid mechanics give the main part of the model. A few equations are approximations of the manufacturer's data curves. The most important dynamical equations embrace acceleration of the

Undersökning av regulatorer for normalaccelerationen hos ett flygplan

This work is dealing with airplane control. The work is based on the JACC conference from 1970, where the time domain specifications on the step response of the normal acceleration n^z (perpendicular to the longitudinal direction of the airplane) and its derivative are given, so that all step responses shall entirely lie within the specifications with a probability of at least 85%. The system is

Nivåreglering av ångpanna i turbintanker

When controlling the drum water level of marine boilers the rolling of the ship may cause problems. The drum water level gets a sinusoidal disturbance, which causes a disturbance of the feed water control valve. This disturbance may proceed through the feed water pump to other steam consumers. The rolling inflates other boiler parameters too. It will be shown that stability problems may appear if

Programmeringsarbete på Intel 3000

The main part of this work consists of the developing of software support. The lack of such support is the main problem with micro computers, independent of the hardware realization. The cross assembler developed, having a PDP 11 as host computer and KMV-version 2 as target computer, will be a great help when writing assembler programs, while the macro assembler raises the language to a higher lev