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http://dx.doi.org/10.1016/j.ijnaoe.2020.11.008

Control system design for vessel towing system by activating rudders of the towed vessel  

Lee, Dong-Hun (Department of Mechanical System Engineering, The Graduate School, Pukyong National University)
Chakir, Soumayya (Department of Mechanical System Engineering, The Graduate School, Pukyong National University)
Kim, Young-Bok (Department of Mechanical System Engineering, The Graduate School, Pukyong National University)
Tran, Duc-Quan (Department of Mechanical System Engineering, The Graduate School, Pukyong National University)
Publication Information
International Journal of Naval Architecture and Ocean Engineering / v.12, no.1, 2020 , pp. 943-956 More about this Journal
Abstract
In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is considered. The non-powered towed ship is dragged by the towing ship. Even though the towed ship is equipped with propulsion systems, they cannot be used at low or constant speeds due to safety issues. In narrow canals, rivers, and busy harbor areas especially, where extreme tension is required during towing operation, the course stability of the towed vessel depends on the towing ship. Therefore, the authors propose a new control strategy in which the rudder system of the towed vessel is activated to provide its maneuverability. Based on the leader-follower system configuration, a nonlinear mathematical model is derived and a back-stepping control is designed. By simulation and experiment results with a comparison study, the usefulness and effectiveness of the proposed strategy are validated.
Keywords
Towed vessel; Towing ship; Course stability; Rudder; Maneuverability; Leader-follower; Nonlinear model; Back-stepping control;
Citations & Related Records
Times Cited By KSCI : 12  (Citation Analysis)
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