한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제22권3호
  • /
  • Pages.34-40
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  • 2008
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  • 1225-0767(pISSN)
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  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

선박 자동 이접안을 위한 비선형 제어알고리즘 연구

A Study on a Nonlinear Control Algorithm for the Automatic Berthing of Ships

  • 원문철 (충남대학교 BK2l 메카트로닉스고급인력양성산학공동사업단) ;
  • 홍성국 (충남대학교 BK2l 메카트로닉스고급인력양성산학공동사업단) ;
  • 정윤하 (충남대학교 BK2l 메카트로닉스고급인력양성산학공동사업단) ;
  • 김선영 (한국해양연구원 해상교통안전연구사업단) ;
  • 손남선 (한국해양연구원 해상교통안전연구사업단) ;
  • 윤현규 (한국해양연구원 해상교통안전연구사업단)
  • Won, Moon-Cheol (Dept. of Mechatronics of BK 21 Mechatronics Group, Chungnam National University) ;
  • Hong, Seong-Kuk (Dept. of Mechatronics of BK 21 Mechatronics Group, Chungnam National University) ;
  • Jung, Yun-Ha (Dept. of Mechatronics of BK 21 Mechatronics Group, Chungnam National University) ;
  • Kim, Sun-Young (Maritime and Ocean Engineering Research Institute/KORDI) ;
  • Son, Nam-Sun (Maritime and Ocean Engineering Research Institute/KORDI) ;
  • Yoon, Hyun-Gyu (Maritime and Ocean Engineering Research Institute/KORDI)
  • 발행 : 2008.06.30
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초록

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.

키워드

참고문헌

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