Bond Graph Modeling of Marine Vehicle Dynamics

The equations of motion for a marine vehicle in 6 DOF are derived using a Lagrangian approach. Utilizing the close relationship between the Lagrange method and the bond graph modelling method, the resulting equations of motion are consistently implemented into a bond graph framework for model representation and simulation. The bond graph implementation of the general rigid body equations of motion are shown and discussed. The added hydrodynamic forces occurring when a body moves in a fluid, forces from waves and current and propulsion and rudder forces are discussed and shown how to include into a bond graph representation. The purpose of a bond graph implementation of marine vehicle dynamics is to establish a selection of building blocks which supports the modelling process setting up marine mechatronic system models including the marine vehicle for complex system simulations.