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http://dx.doi.org/10.5394/KINPR.2014.38.1.29

Mooring Winch Control System Design Based on Frequency Dependent LQR Control Approach  

Goo, Ja-Sam (Department of Naval Architecture and Marine Systems Engineering, Pukyong National University)
Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
Publication Information
Journal of Navigation and Port Research / v.38, no.1, 2014 , pp. 29-37 More about this Journal
Abstract
In this paper, the author consider control system design problem of the surface vessel where any types of floating units are included. To keep their motion/position, the Dynamic Positioning System(DPS) is equipped in. Even though sometimes the thrust systems are installed on them, in general the mooring winch system with the rope/wire is used. Therefore, in this paper we consider a single type mooring winch control problem to keep the vessel's position. For this, we introduce an easy and useful control approach which is based on LQ control theory. In this approach, we introduce the frequency dependent weighting matrices which give the system filters to shape frequency characteristics of the controlled system and guarantee the control performance. Based on this, we will show that the proposed approach works well.
Keywords
barge type surface vessel; dynamic positioning system(DPS); mooring winch; robust control; LQ control; frequency dependent weighting matrix;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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