Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
권호 표지

Modeling and Development of an Integrated Controller for a Ship with Propellers and Additional Propulsion Units

프로펠러와 부가추력장치를 갖는 특수선의 모델링 및 통합제어기 개발

  • 김종화 (한국해양대학교 IT공학부) ;
  • 임재권 (한국해양대학교 대학원 제어계측공학과) ;
  • 이병결 (한국해양대학교 대학원 제어계측공학과)
  • Published : 2005.03.01
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Abstract

Dynamic Positioning(DP) system maintains ship's position (fixed location or predetermined track) exclusively by means of CPPs and thrusters. To generate the control input adequate to various situation an integrated controller for CPPs and thrusters is required. The integrated controller is composed of a thrust calculation algorithm and a thrust allocation algorithm. The thrust calculation algorithm generates thrusts in the surge direction and the sway direction from the desired forward and lateral speed and generates a moment about the yaw axis from desired heading angle. The thrust allocation algorithm allocates the generated thrusts and moment to each CPP and thruster. Computer simulations are executed to confirm the effectiveness of the suggested controller.

Keywords

References

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