Mathematical modelling of construction of ship turning trajectory using autonomous bow thruster work and research of bow thruster control specifics

• Autorzy: Kupraty Oleksandr

Identyfikatory

DOI

10.26408/118.01

• Języki publikacji: EN

Abstrakty

EN

The article proposes a method of constructing the trajectory of a ship’s turn using a control device. Mathematical modelling of the turn trajectory is performed using MS Excel in conjunction with the MATLAB environment. To construct a trajectory, a conditional centre of turn will be used, it will be guided by a control device, such as a radio buoy, or a lighthouse with pre-known coordinates. The construction of this trajectory has two features: a step course change when rotated equal to a sector step, and the accuracy of the trajectory is achieved by using the Kalman filter, simplified to the amplification factor. The bow thruster moment is calculating using the bow thruster shoulder. The angular velocity of turning depends on the linear speed, therefore, the angular velocity can be adjusted not only by changing the bow thruster mode of operation, but also by changing the linear speed of the vessel. The article provides the program code for constructing a trajectory in the MATLAB environment, which takes its initial data from MS Excel. Therefore, the work forms the basic view of autonomous bow thruster control.

Słowa kluczowe

EN

accuracy of trajectory; Kalman filter; step course change; sector step; bow thruster shoulder

• Wydawca: Publishing House of Gdynia Maritime University
• Czasopismo: Scientific Journal of Gdynia Maritime University
• Rocznik: 2021
• Tom: nr 118
• Strony: 7--23
• Opis fizyczny: Bibliogr. 10 poz., rys., tab.

Twórcy

autor

Kupraty Oleksandr

• Odessa National Maritime University, Mechnikova 34, Odessa 65029, Ukraine

• https://orcid.org/0000-0003-3519-504X

Bibliografia

• 1. Botniev, W.A., Ustinov, S.M., 2014, Mietody reszenija priamoj i obratnoj geodeziczeskich zadacz s wysokoj tocznostiu, Naucznotiechniczeskije Wiedomosti SPbGPU 3'(198), Informatika. Tielekommunikacii. Uprawlenije//Matiematiczeskoje modielirowanije: mietody, algoritmy, tiechnologii, pp. 49–58.
• 2. Cadet, O., 2003, Introduction to Kalman Filter – Application to DP, Dynamic Positioning Conference, September 16–17, pp. 1–33.
• 3. IMO, 2018, Framework for the Regulatory Scoping Exercise for the Use of Maritime Autonomous Surface Ships (MASS), MSC 100/20/Add.1, Annex 2.
• 4. Interim Guidelines for Mass Trials, 2019, MSC.1/Circ.1604, June 14.
• 5. Judin, J.I., 2010, Маtiematiczeskoje modelirowanije raboty podruliwajuszczego ustrojstwa burowogo sudna, Viestnik MGTU, vol. 13, no. 4/2, pp. 839–844.
• 6. Kopczyński, A.M., 2015, Analiza i projektowanie układów sterowania sterami strumieniowymi statków z zastosowaniem systemu z bazą wiedzy, Autoreferat rozprawy doktorskiej, Gdańsk.
• 7. Kupraty, O., 2020, Implementation of the Algorithm for Calculation Course (Bearing) on Rhumb Line and Constructing the Trajectory of the Ship's Turning Circle in the MATLAB Programming Environment, The Scientific Heritage, Budapest, vol. 1, no. 60(60), pp. 40–45.
• 8. Маszarov, K.W., 2011, Primienienije filtra Kalmana dla ocenki koordinat celi w RLS, Viestnik SibGUTI, no 3, pp. 59–66.
• 9. Morgaś, W., Kopacz, Z., 2013, Rhumb-Line Sailing by Compution, Versita, Reports on Geodesy, vol. 94, pp. 14–26.
• 10. Wieriemiej, E.I., 2016, Sriedniekwadraticznaja mnogocielewaja optimizacija: uczeb. posobije, SPb, St. Petersburg.

Uwagi

„Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).”