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

Kim Jong Hwa (한국해양대학교 IT공학부)
Lim Jae Kwon (한국해양대학교 대학원 제어계측공학과)
Lee Byung Kyul (한국해양대학교 대학원 제어계측공학과)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.29, no.2, 2005 , pp. 236-242 More about this Journal
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
자동위치조정;가변피치 프로펠러;통합제어기;
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  • Reference
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