The ship control system for trajectory tracking experiments with physical model of tanker

• Autorzy: Morawski L. , Vinh N. C. , Pomirski J. , Rak A.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a cascade system which stabilizes the transverse deviation of the ship in relation to the set path. The ship’s path is determined as a broken line with specified coordinates of way points. Three controllers are used in the system. The primary controller is the trajectory controller. It generates the set value of heading for the course control system or angular velocity for the turning control system. The course control system is used on the straight line of the set trajectory while the turning controller is used during a change of the set trajectory segment. The characteristics of the nonlinear controllers are selected in such a way that the properties of the control system with the rate of turn controller are modelled by the first-order inertia, while the system with the course keeping controller is modelled by a second-order linear term. The presented control system was tested in Matlab-Simulink environment. The results of tests performed on a lake are presented and discussed.

Słowa kluczowe

EN

nonlinear control; ship control; track-keeping

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2007
• Tom: S 2
• Strony: 49--53

Twórcy

autor

Morawski L.

• Gdynia Maritime University

autor

Vinh N. C.

• Gdynia Maritime University

autor

Pomirski J.

• Gdynia Maritime University

autor

Rak A.

• Gdynia Maritime University

Bibliografia

• [1] Gierusz W., “Simulation model of the ship handling training boat Blue Lady”, Proceedings of IFAC Conference on Control Applications in Marine Systems CAMS 2001, Glasgow, 2001.
• [2] Isidori A., Nonlinear Control Systems, Springer Verlag, BerlinNew York, 1989.
• [3] Kobyliński L., (ed.) Manned Model Course on Handling of Large Ships and Ships with Unusual Manoeuvring Characteristics: Course File, Ship Handling Research and Training Centre, Ilawa, 1999.
• [4] Matlab Simulink - User’s Guide, The MathWorks Inc., Natick, MA, 2002
• [5] Morawski L., Pomirski J., Rak A., “Non-linear Control of Course-Unstable Ship: Experiments with Physical Tanker Model”, Proceedings of 10th IMAM Congress, Rethymnon, Crete, 2002.
• [6] Van Amerongen J., Adaptive Steering of Ships – A Model Reference Approach to Improved Manoeuvring and Economical Course Keeping, PhD Thesis, Delft University of Technology, 1982.