Hybrid control of the ship movement
Keywords:
hybrid control, ship movement controlAbstract
The paper presents a hybrid control system for the movement of a ship in various operating modes. The developed system integrates a number of operational modes, such as: precise maneuvering the ship at low speeds, steering the ship at different speeds on the course or along the trajectory, and stopping the ship on the route. The implementation of these modes requires the use of five controls, which have been collected in the set of alternative continuous controllers. The choice of the appropriate control is made depending on the type of the operation performed by the ship. The ship motion along a specified route of crossing in different operating modes is controlled using a method of supervisory switching control. The set ship trajectory consists of straight sections connecting consecutive points of the passage route, complemented by speed setpoints and operating modes of the controller on these sections. The developed control system was tested on the training ship Blue Lady, used to train captains in the Ship Handling Research and Training Center located on the lake Silm in Ilawa-Kamionka, Poland. The conducted tests have proved good quality of the designed hybrid control system.References
Fossen, T.I., 2011, Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, Ltd.
[2] Gierusz, W., 2001, Simulation Model of the Shiphandling Training Boat Blue Lady, Proceedings of the 5th IFAC Conference on Control Application in Marine Systems (CAMS), Glasgow, Scotland.
[3] Godhavn, J.M., Lauvdal, T., Egeland, O., 1996, Hybrid Control in Sea Traffic Management Systems, Alur, R., Henzinger, T., Sontag, D., (eds.) w: Hybrid Systems III, Springer, New York, s. 149–160.
[4] The Foundation for Safety of Navigation and Environment Protection, http://www.ilawashiphandling. com.pl/.
[5] Lisowski, J., 2013, Sensitivity of Computer Support Game Algorithms of Safe Ship Control, International Journal of Applied Mathematics and Computer Science, vol. 23, no. 2, s. 439–446.
[6] Tomera, M., 2010, Discrete Kalman Filter Design for Multivariable ship motion control: Experimental Results with Training Ship, Joint Proceedings of Gdynia Maritime Academy and Hochschule Bremerhaven, Bremerhaven, Germany, s. 26–34.
[7] Tomera, M., 2014, Dynamic Positioning System for a Ship on Harbour Manoeuvring with Different observers. Experimental results, Polish Maritime Research, vol. 21, no. 3(83), s. 13–24.
[8]Tomera, M., 2015, A Multivariable Low Speed Controller for a Ship Autopilot with Experimental Results, Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics (MMAR), Międzyzdroje, August, s. 17–22.
Remove [1] Fossen, T.I., 2011, Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, Ltd.
[2] Gierusz, W., 2001, Simulation Model of the Shiphandling Training Boat Blue Lady, Proceedings of the 5th IFAC Conference on Control Application in Marine Systems (CAMS), Glasgow, Scotland.
[3] Godhavn, J.M., Lauvdal, T., Egeland, O., 1996, Hybrid Control in Sea Traffic Management Systems, Alur, R., Henzinger, T., Sontag, D., (eds.) w: Hybrid Systems III, Springer, New York, s. 149–160.
[4] The Foundation for Safety of Navigation and Environment Protection, http://www.ilawashiphandling. com.pl/.
[5] Lisowski, J., 2013, Sensitivity of Computer Support Game Algorithms of Safe Ship Control, International Journal of Applied Mathematics and Computer Science, vol. 23, no. 2, s. 439–446.
[6] Tomera, M., 2010, Discrete Kalman Filter Design for Multivariable ship motion control: Experimental Results with Training Ship, Joint Proceedings of Gdynia Maritime Academy and Hochschule Bremerhaven, Bremerhaven, Germany, s. 26–34.
[7] Tomera, M., 2014, Dynamic Positioning System for a Ship on Harbour Manoeuvring with Different observers. Experimental results, Polish Maritime Research, vol. 21, no. 3(83), s. 13–24.
[8]Tomera, M., 2015, A Multivariable Low Speed Controller for a Ship Autopilot with Experimental Results, Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics (MMAR), Międzyzdroje, August, s. 17–22.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2017 The Author(s)
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors retain the copyright to their work, licensing it under the Creative Commons Attribution License Attribution 4.0 International licence (CC BY 4.0) which allows articles to be re-used and re-distributed without restriction, as long as the original work is correctly cited. The author retains unlimited copyright and publishing rights.
