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http://dx.doi.org/10.5394/KINPR.2007.31.5.325

Development of Control Algorithm for Ship Berthing and Unberthing Systems Using a Joystick  

Hong, Seong-Kuk (Dept. of Mechtronics of BK 21 Mechatronics Group, Chungnam National University)
Jung, Yun-Ha (Dept. of Mechtronics of BK 21 Mechatronics Group, Chungnam National University)
Kim, Sun-Young (Maritime and Ocean Engineering Research Institute/KORDI)
Won, Moon-Cheol (Dept. of Mechtronics of BK 21 Mechatronics Group, Chungnam National University)
Publication Information
Journal of Navigation and Port Research / v.31, no.5, 2007 , pp. 325-332 More about this Journal
Abstract
This study develops a control algorithm on berthing/unberthing system using a joystick for ships with thrusters and a rudder. A nonlinear mathematical model for low speed maneuvering of typical container ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm for velocity feedback joystick control. Also a virtual HILS(hardware in the loop simulation) software program for berthing/unberthing is developed to test the performance of the nonlinear and a PID control algorithm. The program is developed using LabWindow/CVI, and a user can see current position and desired trajectory of ship in a monitor, then he can control forward and yaw velocities of a ship using a joystick. The simulation results show that the nonlinear mfd the PID controller have superior performance over a simple open loop joystick control algorithm.
Keywords
Joystick; Berthing and unberthing system; MIMO(multi-input multi-output); HILS(hardware in the loop simulation) system; Thruster; Non-linear control; PID control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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