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http://dx.doi.org/10.1016/j.ijnaoe.2017.01.004

Ship nonlinear-feedback course keeping algorithm based on MMG model driven by bipolar sigmoid function for berthing  

Zhang, Qiang (Navigation College, Dalian Maritime University)
Zhang, Xian-ku (Navigation College, Dalian Maritime University)
Im, Nam-kyun (Division of Navigation Science, Mokpo National Maritime University)
Publication Information
International Journal of Naval Architecture and Ocean Engineering / v.9, no.5, 2017 , pp. 525-536 More about this Journal
Abstract
Course keeping is hard to implement under the condition of the propeller stopping or reversing at slow speed for berthing due to the ship's dynamic motion becoming highly nonlinear. To solve this problem, a practical Maneuvering Modeling Group (MMG) ship mathematic model with propeller reversing transverse forces and low speed correction is first discussed to be applied for the right-handed single-screw ship. Secondly, a novel PID-based nonlinear feedback algorithm driven by bipolar sigmoid function is proposed. The PID parameters are determined by a closed-loop gain shaping algorithm directly, while the closed-loop gain shaping theory was employed for effects analysis of this algorithm. Finally, simulation experiments were carried out on an LPG ship. It is shown that the energy consumption and the smoothness performance of the nonlinear feedback control are reduced by 4.2% and 14.6% with satisfactory control effects; the proposed algorithm has the advantages of robustness, energy saving and safety in berthing practice.
Keywords
MMG; Course keeping; Berthing; Bipolar sigmoid function; Nonlinear feedback;
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Times Cited By KSCI : 2  (Citation Analysis)
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