DOI QR코드

DOI QR Code

Application of neuro-fuzzy algorithm to portable dynamic positioning control system for ships

  • Received : 2014.12.30
  • Accepted : 2015.09.15
  • Published : 2016.01.31

Abstract

This paper describes the nonlinear dynamic motion behavior of a ship equipped with a portable dynamic positioning (DP) control system, under external forces. The waves, current, wind, and drifting forces were considered in the calculations. A self-tuning controller based on a neuro-fuzzy algorithm was used to control the rotation speed of the outboard thrusters for the optimal adjustment of the ship position and heading and for path tracking. Time-domain simulations for ship motion with six degrees of freedom with the DP system were performed using the fourth-order RungeeKutta method. The results showed that the path and heading deviations were within acceptable ranges for the control method used. The portable DP system is a practical alternative for ships lacking professional DP facilities.

Keywords

Acknowledgement

Supported by : National Cheng Kung University

References

  1. Balchen, J.G., Jenssen, N.M., Mathisen, E., Salid, S., 1980. A dynamic positioning system based on Kalman filtering and optimal control. MIC 1 (3), 135-163. https://doi.org/10.4173/mic.1980.3.1
  2. Breivik, M., 2003. Nonlinear Maneuvering Control of Underactuated Ships. Master thesis. Norwegian University of Science and Technology.
  3. Cheng, Yuan Chung, 2000. The Application of the Self-tuning Fuzzy Controller Based on the Adaptive Network on the Pump System. Master thesis(in Chinese). Department of Mechanical Engineering, National Central University, Taoyuan, Taiwan.
  4. Crossland, P., Johnson, M.C., 1998. A time domain simulation of deck wetness in head seas. In: Proceeding of RINA International Conference on Ship Motions and Manoeuverability, London, UK.
  5. Fang, M.-C., 1991. Second-order steady forces on a ship advancing in waves. Int. Shipbuild. Prog. 38 (413), 73-93.
  6. Fang, M.-C., Lee, M.L., Lee, C.K., 1993. The simulation of water shipping for a ship advancing in large longitudinal waves. J. Ship Res. 37, 26-137.
  7. Fang, M.-C., Lee, Z.-Y., 2013. Portable dynamic positioning control system on a barge in short-crested waves using the neural network algorithm. China Ocean Eng. 27 (4), 469-480. https://doi.org/10.1007/s13344-013-0040-x
  8. Fang, M.-C., Lee, Z.-Y., Huang, K.-T., 2013. A simple alternative approach to assess the effect of the above-water bow form on the ship added resistance. Ocean Eng. 57, 34-48. https://doi.org/10.1016/j.oceaneng.2012.09.005
  9. Fang, M.-C., Luo, J.-H., 2005. The nonlinear hydrodynamic model for simulating a ship steering in waves with autopilot system. Ocean Eng. 32 (11-12), 1486-1502. https://doi.org/10.1016/j.oceaneng.2004.09.008
  10. Fay, H., 1989. Dynamic Positioning Systems, Principles, Design and Applications(France: Editions). Technip, Paris.
  11. Fossen, T.I., 2002. Marine control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles, first ed. Marine Cybernetics, Trondheim, Norway.
  12. Hamamoto, M., Matsuda, A., Ise, Y., 1994. Ship motion and the dangerous zone of a ship in severe following seas(in Japanese). J. Soc. Nav. Archit. Jpn. 175, 69-78.
  13. Healey, A.J., Lienard, D., 1993. Multivariable sliding-mode control for autonomous diving and steering of unmanned underwater vehicles. IEEE J. Ocean. Eng. 18 (3), 327-339. https://doi.org/10.1109/JOE.1993.236372
  14. Isherwood, R.M., 1973. Wind resistance of merchant ships. Trans. RINA 115, 327-338.
  15. ITTC, 2005. Recommended procedures and guidelines, recommendations of ITTC for parameters. Rev. 02. In: The International Towing Tank Conference.
  16. Jang, J.S.R., Sun, C.-T., 1995. Neuro-fuzzy modeling and control. Proc. IEEE 83 (3), 378-406. https://doi.org/10.1109/5.364486
  17. Lee, T.H., Cao, Y.S., Lin, Y.M., 2002. Dynamic positioning of drilling vessels with a fuzzy logic controller. Int. J. Syst. Sci. 33 (12), 979-993. https://doi.org/10.1080/0020772021000046289
  18. Luo, Jhih-Hong, 2001. Directional Stability and Motions of a Ship in Severe Following Waves. Master thesis(in Chinese). Department of Naval Architecture and Marine Engineering, National Cheng Kung University, Tainan, Taiwan.
  19. Luo, Jhih-Hong, 2006. The Study on the Maneuvering and Control of the Nonlinear Ship Motions in Waves. PhD dissertation(in Chinese). Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan, Taiwan.
  20. Maritime Reporter, 2002. Creating a Portable Dynamic Positioning System, Maritime Reporter and Engineering News. January issue, p. 46.
  21. Michel, W.H., 1999. Sea spectra revisited. Mar. Technol. 36 (4), 211-227.
  22. Morgan, M.J., 1978. Dynamic Positioning of Offshore Vessels. Petroleum Publishing Co., Tulsa ,Oklahoma.
  23. Nienhuis, Ir U., 1986. Simulation of Low Frequency Motions of Dynamically Positioned Offshore Structures, vol. 129. The Royal Institution of Naval Architects, pp. 127-145.
  24. Perez, T., Donaire, A., 2009. Constrained control design for dynamic positioning of marine vehicles with control allocation. Model. Identif. Control 30 (2), 57-70. https://doi.org/10.4173/mic.2009.2.2
  25. Phelps, B.P., 1995. Ship Structural Response Analysis: Spectra and Statistics, Defence Science and Technology Organisation Technical Report: DSTO-TR-0183. Aeronautical and Maritime Research Laboratory, Melbourne.
  26. Saelid, S., Jenssen, N.A., Balchen, J.G., 1983. Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control. IEEE Trans. Autom. Control 28 (3), 331-339. https://doi.org/10.1109/TAC.1983.1103225
  27. Salvesen, N., 1974. Second-order steady state forces and moments on surface ships in oblique regular waves. In: Int. Symp. On Dynamics of Marine Vehicles and Structures in Waves, London, pp. 212-227.
  28. Sorensen, A.J., Sagatun, S.I., Fossen, T.I., 1996. Design of a dynamic positioning system using model-based control. J. Control Eng. Pract. 4 (3), 359-368. https://doi.org/10.1016/0967-0661(96)00013-5
  29. Sorensen, A.J., 2011. A survey of dynamic positioning control systems. Annu. Rev. Control 35 (1), 123-136. https://doi.org/10.1016/j.arcontrol.2011.03.008
  30. Tannuri, E.A., Donha, D.C., 2000. $H{\infty}$ controller design for dynamic positioning of turret moored FPSO. In: In Proceedings of the IFAC Conference on Manoeuvring and Control of Marine Craft. Denmark, Aalborg.
  31. The International Marine Contractors Association, 2000. Specification for DP Capability Plots. IMCA, M140 Rev. 1.
  32. Zalewski, P., 2011. Path following problem for a DP ship simulation model. Trans Nav Int. J. Mar. Navig. Saf. Sea Transp. 5 (1), 111-117.