선박 자동접안을 위한 순수 횡 이동 모델링 및 제어기 설계
Modeling and controller design of crabbing motion for auto-berthing
1
조회
0
다운로드
5
인용
0
참고문헌
키워드
초록
Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the sameamounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is usedto induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuverof a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.
Abstract
Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the sameamounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is usedto induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuverof a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.
참고문헌 (16)
- Djouani, K., "Minimum Time-energy Trajectory Planning for Automatic Ship Berthing", IEEE Journal of Oceanic Engineering, 20, pp.4~12 (1995)
- Fossen, T. I., "Guidance and Control of Ocean Vehicles", pp.137~143 (1994), John Wiley and Sons Ltd.
- Hasegawa, K., "Automatic Berthing Control System Using Neural Network and Knowledge-base", Journal of Kansai Society of Naval Architecture of Japan, pp.135~143 (1993)
- Hasegawa, K., "On Harbor Maneuvering and Neural Control System for Berthing with Tug Operation", Proc. Of 3rd International Conference Maneuvering and Control of Marine Craft, Southampton, U.K, pp.197~210 (1994)
- Im, N. K., "A Study on Automatic Ship Berthing Using Parallel Neural Controller", Jounal of the Kansai Society of Naval Architects, 236, pp.65~70 (2001)
- Jiang, Z-P., "Global Tracking Control of Underactuated Ships by Lyapunov's Direct Method", Automatica, 38, pp.301~309 (2002)
- Lee, S. W., "Crabbing Simulation of Ship with Twin Rudder and Twin Skeg", Proceedings of the Annual Spring Meeting, Society of Naval Architects of Korea (2000)
- Motora, S., "On the Measurement of Added Mass and Added Moment of Inertia for Ship Motions", Journal of Zosen Kiokai, 105, pp.83~92 (1959)
- Quadvlieg, F. H. H. A., "Prediction of Crabbing in the Early Design Stage. Elsevier Science B. V", Elsevier Science B.V., pp.649~654 (1998)
- 3200 Ropax Ferry; Harbor Manoeuvring Tests, "Quadvlieg, F. H. H. A.", MARIN, 16~23, pp.Report NO.24448-6-BT (2011)
- Slotine, J. E., "Applied Nonlinear Control", pp.311~312 (1991), Prentice Hall
- 원문철, "선박 자동 이접안을 위한 비선형 제어알고리즘 연구", 한국해양공학회지, 22(3), pp.34~40 (2008), 한국해양공학회
- Yoshimura, Y., "Mathematical Model for the Manoeuvring Ship Motion in Shallow Water(2nd Report)-Mathematical Model at Slow Forward Speed", Journal of Kansai Society of Naval Architects, 210, pp.77~84 (1988)
- Yamato, H., "Automatic Berthing by the Neural Controller", Proceeding of Ninth Ship Control Systems Symposium, 3, pp.183~201 (1990)
- Yamato, H., "Automatic Berthing Using the Expert System", pp.173~184 (1992), Control Application in Marine Systems
- Yoo, W-J., "An Experimental Study on the Maneuvering Characteristics of a Twin Propeller", Twin Rudder Ship During Berthing and Unberthing, 2006, pp.1, 191~198