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Ship Yaw Model

A Nomoto model of a ship's yaw dynamics

Details

Symbolic systems model suitable for analysis, control design, simulation, and deployment.

Examples

Basic Examples (3) 

Retrieve the model:

In[1]:=
ResourceData[\!\(\* TagBox["\"\<Ship Yaw Model\>\"", #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\)]
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The icon:

In[2]:=
ResourceData[\!\(\* TagBox["\"\<Ship Yaw Model\>\"", #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\), "Icon"]
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The annotation:

In[3]:=
ResourceData[\!\(\* TagBox["\"\<Ship Yaw Model\>\"", #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\), "Annotation"]
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Scope & Additional Elements (4) 

Available content elements:

In[4]:=
\!\(\* TagBox[ RowBox[{"ResourceObject", "[", "\"\<Ship Yaw Model\>\"", "]"}], #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\)["ContentElements"]
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The available model types:

In[5]:=
ResourceData[\!\(\* TagBox["\"\<Ship Yaw Model\>\"", #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\), "AvailableModelTypes"]
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The operating point:

In[6]:=
ResourceData[\!\(\* TagBox["\"\<Ship Yaw Model\>\"", #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\), "OperatingPoint"]
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The parameters:

In[7]:=
ResourceData[\!\(\* TagBox["\"\<Ship Yaw Model\>\"", #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\), "Parameters"]
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Analysis (7) 

The numerical model:

In[8]:=
ship = ResourceData[\!\(\* TagBox["\"\<Ship Yaw Model\>\"", #& , BoxID -> "ResourceTag-Ship Yaw Model-Input", AutoDelete->True]\), "NumericStateSpaceModel"]
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Design a tracking controller with poles at the desired locations:
In[9]:=
sspec = <|"InputModel" -> ship, "TrackedOutputs" -> 1|>;
In[10]:=
cd = StateFeedbackGains[ sspec, {-0.5, -0.35, -0.3, -0.25 + 0.1 I, -0.25 - 0.1 I}, "Data"]
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The closed-loop system:
In[11]:=
csys = cd["ClosedLoopSystem"]
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The response for various heading angle references:
In[12]:=
Table[OutputResponse[csys, ref, {t, 0, 50}], {ref, 4, 20, 4}]; Plot[%, {t, 0, 50}, Sequence[ PlotRange -> All, GridLines -> Automatic, PlotLabels -> {4, 8, 12, 16, 20}]]
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Obtain the controller model:
In[14]:=
cm = cd["ControllerModel"]
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The controller inputs:
In[15]:=
cinps[ref_] := Join[{ref}, OutputResponse[csys, ref, {t, 0, 50}], StateResponse[csys, ref, {t, 0, 50}][[1 ;; 3]]]
The control effort increases as the reference value increases:
In[16]:=
Table[OutputResponse[cm, cinps[ref], {t, 0, 50}], {ref, 4, 20, 4}]; Plot[%, {t, 0, 30}, Sequence[ PlotRange -> All, PlotLegends -> {4, 8, 12, 16, 20}]]
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Suba Thomas, "Ship Yaw Model" from the Wolfram Data Repository (2025)  

Data Resource History

  • Date Created:

Source Metadata

  • Citation:
    • K. Nomoto, T. Taguchi, T. Tsujimoto, and K. Hirano, "On the steering qualities of ships", International Shipbuilding Progress, vol. 4, no. 35, pp. 354–370, 1957.

Publisher Information

  • Prepared for the Wolfram Data Repository By: Maher Kuzbari, Suba Thomas
  • Publisher of Record: Suba Thomas