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RISS 인기검색어
- 검색키워드
- 저자 : Van Phuoc Bui (검색결과 2 건)
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A Study on Automatic Ship Berthing System Design with Side Thrusters
Van Phuoc Bui 부경대학교 2010 국내석사
This thesis contains some analyses and new results on the problem of automatic ship berthing system design. The main motivation driving this work is to propose a new approach for ship berthing automatically by using only bow and stern thrusters. In this thesis, the ship steering model is considered and simplified to suit the proposed system. Prediction Error Method, one of System identification techniques, is used to estimate the hydrodynamic coefficients of ship motion model. The two-degree-of-freedom servosystem incorporating observer is described. It satisfies two purposes: - Optimal tracking response to step reference by using linear optimal regulator - Robust stability with the uncertainty of model and effect of environmental disturbances In order to evaluate the efficiency of proposed steering model and designed controller, the ship control experiments are performed in model basin. Motion of ship is measured and controlled based on SIMTOOL program through DAQ board. Experimental results show good performances with reduced overshoot and steady state error as well as robustness against environmental disturbances.
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A Study on Ship Maneuvering in Harbor Area by Using Tugboats
Van Phuoc Bui 부경대학교 대학원 2013 국내박사
Maneuvering in harbor is known as the most sophisticated and difficult procedure. Much knowledge and experiment are demanded to accomplish berthing. So, automatic ship berthing is highly needed to reduce the manpower. The thesis proposes a method for ship maneuvering in harbor area by using tugboats. In the first content of this thesis, automatic ship berthing studies are reviewed and summarized. The main difficulties for ship berthing are: - The significant reduction in controllability of actuators due to the low speed operations - The influence on ship handling due to change in hydrodynamic effects - The relatively large effects of environmental disturbance - The stress and fatigue of ship master with processing a large amount of information These difficulties are the motivation to propose an approach for ship berthing by using autonomous tugboats. Modeling is essential since most of controller and observer design are based on the model of marine vessel. In this thesis, the 3DOF low frequency model used for ship maneuvering in berthing by using assistance of 4 tugboats is proposed. An importance in marine control is state estimator design. The state estimation is used to estimate the ship velocities, the bias term of slowly varying environmental disturbance and filter out the effect of 1st–order wave disturbance component from the measured position and heading. In this thesis, both linear observer by using Kalman filter and nonlinear passive observer are presented and assessed. Hydrodynamic coefficients can change when the ship moves from the open sea to confined water and should be considered as uncertainty parameters. To capture this, a nonlinear adaptive controller is proposed for design an automatic berthing system by using 4 tugboats. Thrust allocation for this over-actuated system is formulated to determine the thrust of each tugboat. The control allocation is considered as optimization problem and solved by using redistributed pseudo inverse approach. In this study, the controller is developed on the assumption that all states of the vessel are measureable and the uncertainty of dynamic system only appears on the damping matrix. To overcome drawbacks presented in adaptive control study, a sliding mode controller in combination with nonlinear passive observer is proposed to build up a fully automatic berthing system. Simulation results are used to evaluate the proposed approach. To build up a model basin for getting experiment data, a measurement system which is used to measure the position and orientation of ship by using image processing technique is successfully completed. A model ship and four tugboats used in this study are designed and created. Real time control strategy using Compactrio and Labview programming is developed.
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