선박 자동 이접안을 위한 비선형 제어알고리즘 연구
A Study on a Nonlinear Control Algorithm for the Automatic Berthing of Ships
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초록
This study discusses the design of an automatic berthing control algorithm for ships with a bow thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the low speed maneuvering of ships was used to design a MIMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called "Line of Sight" method. An optimal control force allocation method forthe rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showedgood tracking performance.
Abstract
This study discusses the design of an automatic berthing control algorithm for ships with a bow thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the low speed maneuvering of ships was used to design a MIMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called "Line of Sight" method. An optimal control force allocation method forthe rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showedgood tracking performance.
참고문헌 (23)
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