Browse > Article
http://dx.doi.org/10.3796/KSFOT.2019.55.2.172

A study on ship motion control system design for developing autonomous system: Experimental study  

KIM, Kyong-Hyon (Department of Control and Mechanical Engineering, Pukyong National University)
SUH, Jin-Ho (Department of Mechanical System Engineering, Pukyong National University)
KIM, Young-Bok (Department of Control and Mechanical Engineering, Pukyong National University)
Publication Information
Journal of the Korean Society of Fisheries and Ocean Technology / v.55, no.2, 2019 , pp. 172-180 More about this Journal
Abstract
In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.
Keywords
Ship motion control; Autonomous ship; Servosystem; Observer; Experiment; Control performance; Model ship;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Bui VP, Jeong JS, Kim YB and Kim DW. 2010. Optimal control design for automatic ship berthing by using bow and stern thrusters. Journal of Control, Automation and Systems Engineering 24(2), 10-17.
2 Bui VP, Kawai H, Kim YB and Lee KS. 2011. A ship berthing system design with four tug boats. Journal of Mechanical Science and Technology 25(5), 1257-1264. (DOI:10.1007/s12206-011-0215-4).   DOI
3 Bui VP and Kim YB. 2011. Development of constrained control allocation for ship berthing by using autonomous tugboats. International Journal of Control Automation and Systems 9(6), 1203-1208. (DOI:10.1007/s12555-011-0622-4).   DOI
4 Fossen TI. 2002. Marine control system-guidance, navigation, rigs and underwater vehicle, Trondheim, Norway:Norwegian University of Science and Technology.
5 Hasegawa H and Fukutomi T. 1994. On harbour maneuvering and neural control system for berthing with tug operation. Proc. 3rd International Conference on Maneuvering and Control of Marine Craft, UK, 197-210.
6 Kasasbeh YA, Pourzanjani MM and Dove MJ. 1993. Automatic berthing of ship. Proc. of the Institute of Marine Engineers, the 3rd International Conference on Maritime Communications and Control, London, 10-17.
7 Kim KH, Kim BG and Kim YB. 2018. A study on the optimal tracking control system design for automatic ship berthing. Journal of the Korean Society for Power System Engineering 22(4), 72-80. (DOI:10.9726/kspse.2018.22.4.072).   DOI
8 Kim KH, Kim YB and JI SW. 2018. A study on ship motion control system design for autonomous ship. J Korean Soc Fish Ocean Technol 54(3), 231-238. (DOI:10.3796/KSFOT.2018.54.3.231).   DOI
9 Kim KH, Kim CH and JI SW. 2018. A study on heuristic berthing system design with winch and damper assistance. Journal of Korean Society for Power System Engineering 22(6), 20-27. (DOI:10.9726/kspse.2018.22.6.020).   DOI
10 Ji SW, Bui VP, Balachandran and Kim YB. 2013. Robust control allocation design for marine vessel. Ocean Engineering 63, 105-111. (DOI:10.1016/j.oceaneng.2013.02.004).   DOI
11 Ji SW, Choi MS and Kim YB. 2015. A study on positioning mooring system design for the vessel moored by mooring lines. IEEE/ASME Transactions on Mechatronics 20(6), 2824-2831. (DOI:10.1109/tmech.2015.2407612).   DOI
12 Tran AMD, Ji SW and Kim YB. 2014. A ship berthing system design by cooperating with tugboats and dampers. Journal of Drive and Control 11(3), 7-13. (DOI:10.7839/ksfc.2014.11.3.007).   DOI
13 Tran DQ, Lee DH, Kim TW, Kim YB and Park HC. 2018. A study on maneuvering performance improvement of a towed vessel without a power propulsion system :system modeling. J Korean Soc Fish Ocean Technol 54(4), 343-352. (DOI:10.3796/ ksfot.2018.54.4.343).   DOI