For the sake of simplicity let us assume that the

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Unformatted text preview: n the sea. For the sake of simplicity let us assume that the ship, the stream and the wind are in the same orientation. You are desired to design a combined controller for this taka to sail with constant velocity. Suppose that the absolute velocity of the taka can be measured from the satellite using GPS, and the velocity of the stream and wind can be measured with a flow meter on the ship. Assuming that the thrust force is proportional to the propeller angular velocity Tp = K p ⋅ ω , and the viscous drag of the water and the air is proportional to the relative velocity of the taka with respect to the stream and the wind. ME304/Spring 2008/Section 03/HW4 1 • Complete the block diagram by taking the propeller angular velocity is the input of the plant, and the absolute velocity of the taka is the output...
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