학술논문

Control System of Training Ship Keeping the Desired Path Consisting of Straight-lines and Circular Arcs.
Document Type
Article
Author
Source
TransNav: International Journal on Marine Navigation & Safety of Sea Transportation. Dec2017, Vol. 11 Issue 4, p711-719. 9p.
Subject
*SHIPS
*ANGULAR velocity
*CASCADE control
*SPEED
Language
ISSN
2083-6473
Abstract
Presented in this paper is a new, expanded approach to setting the planned route within restricted sea areas where there are permanent obstacles or other vessels, and then tracking it by the ship. In this project the desired path is represented using a combination of straight-lines and arcs. For this purpose a cascade control system of the ship motion has been designed. The task of the outer loop controller to prepare the reference signal is executed by the reference signal generator. The control of angular velocity takes place in an inner loop using IMC approach. Numerical simulation studies of control algorithms that have been developed for lake trials of the training ship are also carried out to demonstrate the effectiveness of the proposed tracking control system. [ABSTRACT FROM AUTHOR]