• 제목/요약/키워드: ship autopilot

검색결과 52건 처리시간 0.024초

선박의 항로추종을 위한 펴지 PID 제어기형 오토파이럿 시스템 (A Fuzzy PID Controller Type Autopilot System for Route-Tracking of Ships)

  • 김종화;하윤수;이병결
    • Journal of Advanced Marine Engineering and Technology
    • /
    • 제30권6호
    • /
    • pp.760-769
    • /
    • 2006
  • This paper proposes an autopilot system using a fuzzy PID controller to satisfy performances required for the automatic navigation of ships under various marine circumstances. The existing autopilot system using a PD type controller has difficulties in eliminating a steady-state error and compensating nonlinear characteristics of ships. The autopilot system using the proposed fuzzy PID controller has a self-tuning ability, an ability to compensate nonlinear characteristics, and an ability to turn at constant angular velocity. Therefore. it can naturally make a steady-state error zero, compensate nonlinear dynamic effect of ships, have an adaptability to parameter variation owing to shallow water effect, and have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing.

Dynamics Analysis of a Small Training Boat ant Its Optimal Control

  • Nakatani, Toshihiko;End, Makoto;Yamamoto, Keiichiro;Kanda, Taishi
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 2005년도 ICCAS
    • /
    • pp.342-345
    • /
    • 2005
  • This paper describes dynamics analysis of a small training boat and a new type of ship's autopilot not only to keep her course but also to reduce her roll motion. Firstly, statistical analysis through multi-variate auto regressive model is carried out using the real data collected from the sea trial on an actual small training boat Sazanami after the navigational system of the boat was upgraded. It is shown that the roll motion is strongly influenced by the rudder motion and it is suggested that there is a possibility of reducing the roll motion by controlling the rudder order properly. Based on this observation, a new type of ship's autopilot that takes the roll motion into account is designed using the muti-variate modern control theory. Lastly, digital simulations by white noise are carried out in order to evaluate the proposed system and a typical result is demonstrated. As results of simulations, the proposed autopilot had good performance compared with the original data.

  • PDF

자동운항시스템의 제어에 관한 실험적 연구 (Experimental Study on Control of Autopilot System(I))

  • 한봉주;배경수;김환성;김상봉
    • 대한기계학회논문집A
    • /
    • 제20권8호
    • /
    • pp.2449-2457
    • /
    • 1996
  • This paper presents a design method for autopilot control system in course change to the specified direction based on a robust digital servo controlmelthod incorporating the concept of the annihilator polynormial. The mathematicalmodel of ship turning motion is very complex in the view of practical control because it has time varying parameters, nonlinear and dead time terms. To apply the digital servo control method based on computer control, the model is linearized at an equilibrium point and discretized with appropriate sampling time. The control algorithm was evaluated on the basis of computer simulation for a model ship and the practical experiment was carried out with an image processing method for measurement of ship position in a water tank. The results of overall experiments show that the proposed control method will be one of good way to keep a track plotted in the map.

Study on variation in ship's forward speed under regular waves depending on rudder controller

  • Kim, Sung-Soo;Kim, Soon-Dong;Kang, Donghoon;Lee, JongHyun;Lee, Seung Jae;Jung, Kwang Hyo
    • International Journal of Naval Architecture and Ocean Engineering
    • /
    • 제7권2호
    • /
    • pp.364-374
    • /
    • 2015
  • The purpose of this research is to compare and analyze the advanced speed of ships with different rudder controller in wavy condition by using a simulation. The commercial simulation tool named AQWA is used to develop the simulation of ship which has 3 degree of freedom. The nonlinear hydrodynamic force acting on hull, the propeller thrust and the rudder force are calculated by the additional subroutine which interlock with the commercial simulation tool, and the regular wave is used as the source of the external force for the simulation. Rudder rotational velocity and autopilot coefficients vary to make the different rudder controller. An advanced speed of ships depending on the rudder controller is analyzed after the autopilot simulations.

다방향파중에서의 선박 자동조타 시스템의 평가 기법에 관한 연구 (A Study on the Estimation of Automatic Steering of Ships in Multi-directional Waves)

  • 이경우;손경호;윤순동
    • 한국항해학회지
    • /
    • 제22권1호
    • /
    • pp.79-89
    • /
    • 1998
  • When an automatic course-keeping is concerned , as is quite popular in modern navigation, the closed-loop steering system consists of autopilot device, power unit(or telemotor unit), steering gear, magnetic or gyro compass and ship dynamics. In order to estimate steering system of ship in open seas, we need to know the characteristics of each component of the system and also to know the characteristics of disturbance to ship dynamics. Calculation methods of irrgular disturbances are based on the linear superposition principle. In this paper, for the purpose of evaluation of automatic steering of ships , the influences of linear control constants of autopilot on propulsive energy loss are investigated bya performance index is introduced from the viewpoint of energy saving. Numberical calculations are carried out for an are carrier and for a fishing boat in multi-directional waves.

  • PDF

신경망을 이용한 선박용 자동조타장치의 제어시스템 설계 (I) (Design of Neural-Network Based Autopilot Control System (I))

  • 곽문규;서상현
    • 대한조선학회논문집
    • /
    • 제34권2호
    • /
    • pp.56-63
    • /
    • 1997
  • 본 논문에서는 신경망을 이용한 자동조타장치의 개발에 관한 연구결과를 소개한다. 본 연구에서는 먼저 신경망이론에 사용되는 대표적인 방법인 Back-Propagation 알고리즘의 원리를 설명하고 이를 이용하여 선박의 조종모델을 신경망으로 재구성하는 방법을 제시하였다. 신경망이론을 사용하여 선박운동모델을 System Identification 하는 경우의 문제점을 간단한 조종모델을 이용하여 수치적으로 검증하고 보다 복잡한 모델로 적용하는 경우에 대한 토의를 하였다. 본 논문에서 개발된 신경망이론들은 비선형성을 내포하고 있는 선박운동을 재구성하는데 효과적으로 사용될 수 있을 것으로 기대된다.

  • PDF

파랑줄을 항행하는 어선의 자동조타시스템에 작용하는 불규칙 외한 추정에 관한 연구 (A Study on the Evaluation of Irregular Disturbances to Automatic Steering System of Fishing Boat in Waves)

  • 이경우
    • 수산해양기술연구
    • /
    • 제34권2호
    • /
    • pp.165-173
    • /
    • 1998
  • When an automatic course-keeping is concerned, as is quite popular in modem navigation, the closed-loop steering system consists of autopilot device, power unit (or telemotor unit), steering gear, magnetic or gyro compass and ship dynamics. In order to estimate automatic steering system of ships in open seas. we need to know the characteristics of each component of the system, and also to know the characteristics of disturbance to ship dynamics. In this paper, I provide calculation method of imposing irregular disturbance to autopilot navigation system of the ship in open seas, and also show calculation examples about fishing boat. The disturbance consists of the irregular wave and the fluctuating component of wind. Finally, The disturbances are calculated in terms of equivalent yaw angular velocity. Each spectrum and time history of disturbance are reasonably evaluated.

  • PDF

선박 자동조타기 설계를 위한 퍼지모델링 (Fuzzy modelling for design of ship's autopilot)

  • 안종갑;이창호;이윤형;손정기;이수룡;소명옥
    • Journal of Advanced Marine Engineering and Technology
    • /
    • 제34권1호
    • /
    • pp.102-108
    • /
    • 2010
  • 본 연구에서는 설계사양과 경제성을 고려한 퍼지형 자동조타기를 설계하기 위한 이전 단계로 Bech와 Wagner Smith의 Nomoto 2차 비선형 확장모델을 퍼지모델로 구현하는 것을 다룬다. 우선 퍼지형 자동조타기를 얻기 위해 선박의 동적 특성을 효과적으로 표현 가능한 T-S 퍼지모델을 얻는다. T-S 퍼지모델은 선박의 회두각속도를 설계변수로 간주하고 이것의 변화에 따라 다수개의 지역 선형모델(서브시스템)을 구한 후, "IF-THEN" 퍼지규칙으로 결합한 것이다. 이때 선형모델의 파라미터와 퍼지모델의 소속함수는 선박의 동적인 특성과 일치하도록 입 출력 데이터와 실수코딩 유전알고리즘이 결합된 모델 조정기법을 이용하여 최적으로 추정한다.

Implementation of Real-time Wheel Order Recognition System Based on the Predictive Parameters for Speaker's Intention

  • Moon, Serng-Bae;Jun, Seung-Hwan
    • 한국항해항만학회지
    • /
    • 제35권7호
    • /
    • pp.551-556
    • /
    • 2011
  • In this paper new enhanced post-process predicting the speaker's intention was suggested to implement the real-time control module for ship's autopilot using speech recognition algorithm. The parameter was developed to predict the likeliest wheel order based on the previous order and expected to increase the recognition rate more than pre-recognition process depending on the universal speech recognition algorithms. The values of parameter were assessed by five certified deck officers being good at conning vessel. And the entire wheel order recognition process were programmed to TMS320C5416 DSP so that the system could recognize the speaker's orders and control the autopilot in real-time. We conducted some experiments to verify the usefulness of suggested module. As a result, we have confirmed that the post-recognition process module could make good enough accuracy in recognition capabilities to realize the autopilot being operated by the speech recognition system.

선박의 추진에너지를 고려한 PID형 자동조타기 설계 (Design of a PID-type Autopilot Concerned with Propulsive Energy of Ship)

  • 안종갑;이창호;이윤형;최재준;소명옥
    • 한국항해항만학회지
    • /
    • 제33권6호
    • /
    • pp.437-442
    • /
    • 2009
  • 대양 항행하는 거의 모든 선박에서 항해사를 지원하기 위해 선박의 회두각 유지 및 변침을 목적으로 사용되는 일반적인 자동조타기는 대부분 PID형 제어기가 장착되어 있다. 선박 자동조타기의 제어기 계수는 운항 경제성 관점에서 선박의 추진 에너지 손실량(연료소비량)으로써 평가해야 한다. 본 논문에서는 선박 자동조타기의 정량적인 평가함수를 바탕으로 추진 에너지 손실량이 최소가 되도록 자동조타기의 제어이득을 구하고자 한다. 이 때 제약조건, 즉 설계사양을 고려한 RCGA를 이용하여 제어이득의 탐색을 실시하고, 시뮬레이션을 통해 제안한 방법을 검증한다.