DOI QR코드

DOI QR Code

A Study on Development of Sway Velocity Reference Model During Auto-berthing/Unberthing Through Analysis of Ship's Berthing/Unberthing Data

선박의 이/접안 데이터 분석을 통한 자동 이/접안 시 횡방향속도 참조모형 개발에 관한 연구

  • Kim, Jung-Hyeon (Korea Marine Equipment Research Institute) ;
  • Jo, Hyun-Jae (Department of Marine Design Convergence Engineering, Pukyong National University) ;
  • Kim, Su-Rim (Department of Marine Design Convergence Engineering, Pukyong National University) ;
  • Lee, Jun-Ho (Training Ship NARA, Pukyong National University) ;
  • Park, Jong-Yong (Department of Naval Architecture and Marine System Engineering, Pukyong National University)
  • 김정현 (한국조선해양기자재연구원) ;
  • 조현재 (부경대학교 마린융합디자인공학과) ;
  • 김수림 (부경대학교 마린융합디자인공학과) ;
  • 이준호 (부경대학교 실습선 나라호) ;
  • 박종용 (부경대학교 조선해양시스템공학과)
  • Received : 2021.01.11
  • Accepted : 2021.10.05
  • Published : 2021.12.20

Abstract

Crabbing motion is a pure sway motion with only sway velocity. The ship's crabbing motion is essential for an ideal berthing/unberthing process. The unberthing situation proceeds in sequential order such as crabbing motion section, pivoting section, and outer port section. For the berthing situation, the sequence has a reverse order: the inner port section, pivoting section, and crabbing motion section. In this paper, the berthing/unberthing data of the reference ship, Pukyong National University research ship "NARA", was analyzed to develop a sway velocity reference model. Several constraints were defined to derive the crabbing motion section during berthing/unberthing. The sway velocity reference model for the auto-berthing/unberthing was developed using the estimated sway velocity. A reproduction simulation of the ship was performed to compare the designed reference model and the reference ship data.

Keywords

Acknowledgement

본 논문은 2020년도 해양수산부 및 해양수산과학기술진흥원 연구비 지원으로 수행된 '자율운항선박 기술개발사업(20200615, 지능형 항로 의사결정 기능을 갖는 자율운항 시스템 개발)'의 지원으로 연구되었습니다.

References

  1. Djouani, K. & Hamam, Y., 1995. Minimum time-energy trajectory planning for automatic ship berthing. IEEE Journal of Oceanic Engineering, 20(1), pp.4-12. https://doi.org/10.1109/48.380251
  2. Fossen, T.I., 2002. Marine control system-guidance, navigation and control of ships, rigs and underwater vehicles. Marine Cybernetics.
  3. Im, N.K. & Nguyen, V.S., 2018. Artificial neural network controller for automatic ship berthing using head-up coordinate system. International Journal of Naval Architecture and Ocean Engineering, 10(3), pp.235-249. https://doi.org/10.1016/j.ijnaoe.2017.08.003
  4. Kim, K.H., Kim, B.G. & Kim, Y.B., 2018. A study on the optimal tracking control system design for automatic ship berthing. Journal of the Korean Society for Power System Engineering, 22(4), pp.72-80.
  5. Park, J.Y. & Kim, N.W., 2013. Modeling and controller design of crabbing motion for auto-berthing. Journal of Ocean Engineering and Technology, 27(6), pp.56-64. https://doi.org/10.5574/KSOE.2013.27.6.056
  6. Park, J.Y. & Kim, N.W., 2014. Design of an adaptive backstepping controller for auto-berthing a cruise ship under wind loads. International Journal of Naval Architecture and Ocean Engineering, 6(2), pp.347-360. https://doi.org/10.2478/IJNAOE-2013-0184
  7. Park, J.Y. & Lee, J.H., 2020a. A study on full-scale maneuvering trials using bow thruster. Journal of the Society of Naval Architects of Korea, 57(1), pp.52-59. https://doi.org/10.3744/SNAK.2020.57.1.052
  8. Park, J.Y. & Lee, J.H., 2020b. A study on full-scale crabbing test using dynamic positioning system. Journal of the Society of Naval Architects of Korea, 57(6), pp.345-352. https://doi.org/10.3744/SNAK.2020.57.6.345
  9. Son, N.S., Kim, S.Y., Yoon, H.K. & Lee, C.M., 2004. Study on auto-berthing and auto-deberthing system of ship using thrusters. Journal of The Korean Society for Marine Environment & Energy, pp.7-14. https://doi.org/10.7846/JKOSMEE.2016.19.1.7
  10. Won, M.C. et al., 2008. A study on a nonlinear control algorithm for the automatic berthing of ships. Journal of The Korean Society of Ocean Engineers, 22(3), pp.34-40.
  11. Yamato, H., Koyama, T. & Nakagawa, T., 1992. Automatic berthing using the expert system. Proceeding of Workshop on Artificial Intelligence Control and Advanced Technology in Marine Automation(CAMS'92), pp.173-183.
  12. Yamato, H., Uetsuki, H. & Koyama, T., 1990. Automatic berthing by the neural controller. Proceeding of Ninth Ship Control Systems Symposium, September, Bethesda, U.S.A. 3, pp.183-201.
  13. Zhang, Y., Hearn, G.E. & Sen, P., 1997. A multivariable neural controller for automatic ship berthing. IEEE Control Systems, 17(4), pp.31-45. https://doi.org/10.1109/37.608535