• 동력기계공학회지
• /
• 제16권2호
• /
• pp.66-74
• /
• 2012

In this paper, the authors propose a new approach to control a barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. However sometimes the thrust systems are installed on it, and in general the rope control by mooring winch system is used. It may be difficult to compare the control performances of two types. If we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a DPS design problem which can be extended to the many application fields. The goal of this paper is twofold. First, the sliding mode controller (SMC) for positioning the our vessel is proposed. Especially, in this paper, a robust stability condition is given based on descriptor system representation. In the result, the sliding mode control law guarantees to keep the vessel in the defined area in the presence of environmental disturbances. And second, the thrust allocation problem is solved by using redistributed pseudo-inverse (RPI) algorithm to determine the thrust force and direction of each individual actuator. The proposed approach has been simulated with a supply vessel model and found work well.

• 동력기계공학회지
• /
• 제17권3호
• /
• pp.89-98
• /
• 2013

In this paper, the authors consider control system design problem of barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design problem. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. Even though sometimes the thrust systems are installed on it, in general the mooring winch system with the rope is used. It may be difficult to compare the control performances of two types. But, if we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a single type mooring winch system and control system design problem in which accurate position control is needed. Because this result can be extended to the general type mooring system in which a number of winch are installed. At first, a mathematical model of winch is obtained and evaluated to verify the usefulness for control system design by experiment. Also, the disturbance model is extracted from experiment data to evaluate the strength of the uncertainty. Based on this results, the robust control system is designed and control performance is evaluated by simulation.

• 한국항해항만학회지
• /
• 제38권1호
• /
• pp.29-37
• /
• 2014

본 논문에서는 무어링윈치시스템 제어를 위한 제어계 설계법에 대해 고찰하고 있다. 특히 무어링윈치의 동적운전이 로우프에 부가하는 급격한 부하변동을 억제함으로써 로우프 피로하중을 감소시키고 선박운동제어에 있어서의 바람직한 제어성능을 달성할 수 있도록 하는 제어기 설계법을 제안하고 있다. 최적제어이론에 기반하여, 평가함수에 주어지는 중량행렬(weighting matrix)에 주파수 특성을 부여함으로써, 고주파 모드가 포함된 제어입력이 불안전한 특성을 여기시키지 않도록 하는 것이 제어기 설계 목표이며, 이것은 곧 로우프에 급격한 부하변동을 발생시키지 않게 되는 결과를 얻게 된다. 설계된 제어기는 저차이면서도 외란에 대한 강인성 뿐 만 아니라 제어성능 또한 보장하는 유용한 기법이며 시뮬레이션 및 실험을 통해 그 유효성을 검증하고 있다.