Control System of Training Ship Keeping the Desired Path Consisting of Straight-lines and Circular Arcs
Journal Title: TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation - Year 2017, Vol 11, Issue 4
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.
Authors and Affiliations
Krzysztof Kula, Mirosław Tomera
Keywords
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- EP ID EP246976
- DOI 10.12716/1001.11.04.19
- Views 98
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