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J. Ocean Eng. Technol. 2008;22(3):34-40.    

A Study on a Nonlinear Control Algorithm for the Automatic Berthing of Ships
Won Moon-Cheol,Hong Seong-Kuk,Jung Yun-Ha,Kim Sun-Young,Son Nam-Sun,Yoon Hyun-Gyu
Dept. of Mechatronics of BK 21 Mechatronics Group Chungnam National University,Dept. of Mechatronics of BK 21 Mechatronics Group Chungnam National University,Dept. of Mechatronics of BK 21 Mechatronics Group Chungnam National University,Maritime and Oc
선박 자동 이접안을 위한 비선형 제어알고리즘 연구
원문철,홍성국,정윤하,김선영,손남선,윤현규
충남대학교 BK2l 메카트로닉스고급인력양성산학공동사업단,충남대학교 BK2l 메카트로닉스고급인력양성산학공동사업단,충남대학교 BK2l 메카트로닉스고급인력양성산학공동사업단,한국해양연구원 해상교통안전연구사업단,한국해양연구원 해상교통안전연구사업단,한국해양연구원 해상교통안전연구사업단
© 2008 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Keywords: Automatic berthing, Nonlinear mathematical model, Nonlinear control, Thrustor, Multi-input multi-output (MIMO), Line of sight (LOS)
핵심용어: 자동 이접안, 비선형수학모델, 비선형 제어, 추진기, 다중입력 다중출력, 방향주시선
Abstract
his study discusses the design of an automatic berthing control algorithm for ships with a haw thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the law 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 showed good tracking performance.


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