Dynamic Model of 6 DOF for a Catamaran

Abstract

The need to expand the exploitation and preservation of marine resources makes the interest in marine surface vehicles increases. Subjects such as modeling, simulation and control are now open research lines. In this research a nonlinear dynamic model of six degrees of freedom, which represents the main dynamic characteristics of two hull catamaran. The effect of environmental factors is included. The model has been obtained for the purpose of developing a training simulator for this vessel. In this paper the equations representing the dynamics of the vehicle from which the nonlinear model is obtained by applying an analytical and semi empirical method are defined. The validity of the model is found by simulation using MATLAB Simulink.