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Dynamic Modeling and Observer-based Servomechanism Control of a Towing Rope System
Anh Minh D. Tran,Young Bok Kim 유공압건설기계학회 2016 드라이브·컨트롤 Vol.13 No.4
This paper presents a control-oriented dynamical model of a towing rope system with variable-length. In this system, a winch driven by a motor’s torque uses the towing rope to pull a cart. In general, it is a difficult and complicated process to obtain an accurate mathematical model for this system. In particular, if the rope length is varied by operating the winch, the varying rope dynamics needs to be considered, and the key physical parameters need to be re-identified... However, real time parameter identification requires long computation time for the control scheme, and hence undesirable control performance. Therefore, in this article, the rope is modeled as a straight massless segment, with the mass of rope being considered partly with that of the cart, and partly as halfway to the winch. In addition, the changing spring constant and damping constant of the towing rope are accounted for as part of the dynamics of the winch. Finally, a reduced-order observer-based servomechanism controller is designed for the system, and the performance is evaluated by computer simulation.
A Ship Berthing System Design by Cooperating with Tugboats and Dampers
Anh-Minh D. Tran(안민트란),S. W. Ji(지상원),Y. B. Kim(김영복) 유공압건설기계학회 2014 드라이브·컨트롤 Vol.11 No.3
Everyday about 90% of cargos are delivered by ships, and thousands of vessels enter and depart the international container harbors such as Shanghai, Singapore, Hong Kong, Busan, Rotterdam, etc. Maneuvering at harbor is known as the most sophisticated and difficult procedure, because the effectiveness of actuators during low speed berthing is reduced. In this paper, a new berthing method is discussed. Tugboats are combined with damper systems to ensure safe berthing. A mathematical model describing the interaction between unactuated ship, tugboats and damper systems is presented. An optimal controller is designed to maneuver the ship without oscillation and overshoot. MCL (Marine Cybernetics Lab) model ship is used to evaluate the efficiency of the proposed approach through MatLab simulation.
A Study on Floating Unit Motion Control Strategy
Anh-Minh D. Tran,Jung-In Yun,Kwang-Hwan Choi,Chang-Hyo Son,Young-Bok Kim 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
Energy companies today increasingly look offshore and head towards deeper waters to assist fueling modern society. Semisubmersibles and drill-ships are often used to prospect and produce in remote environments. The oil rigs should be essentially kept on target. In this paper, the authors solve the problem of designing a Position Mooring (PM) system for barge ship. A mathematical model of a system describing the interaction between an unactuated barge ship and mooring system is presented. A PID control scheme is implemented to achieve PM for the vessel by changing the tension of the mooring ropes. Additionally, a scale model ship is built to test the proposed strategy. Hydrodynamic coefficients of the low speed model for PM ship are identified by suitable experiments.
Dynamic Modeling and Observer-based Servomechanism Control of a Towing Rope System
Tran, Anh Minh D.,Kim, Young Bok The Korean Society for Fluid Power and Constructio 2016 드라이브·컨트롤 Vol.7 No.4
This paper presents a control-oriented dynamical model of a towing rope system with variable-length. In this system, a winch driven by a motor's torque uses the towing rope to pull a cart. In general, it is a difficult and complicated process to obtain an accurate mathematical model for this system. In particular, if the rope length is varied by operating the winch, the varying rope dynamics needs to be considered, and the key physical parameters need to be re-identified... However, real time parameter identification requires long computation time for the control scheme, and hence undesirable control performance. Therefore, in this article, the rope is modeled as a straight massless segment, with the mass of rope being considered partly with that of the cart, and partly as halfway to the winch. In addition, the changing spring constant and damping constant of the towing rope are accounted for as part of the dynamics of the winch. Finally, a reduced-order observer-based servomechanism controller is designed for the system, and the performance is evaluated by computer simulation.
Vessel Motion Control using Rope Tension Control Strategy
김영복,Anh-Minh D. Tran,정석호,윤정인 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.4
In this paper, the problem of designing a Position Mooring (PM) system for a barge ship is addressed. Amathematical model of a system comprising a barge ship and mooring system is derived. Hydrodynamic coefficientsof the low speed model for PM ship are identified by suitable experiments. A PID control scheme is implementedto achieve PM for the vessel by changing the tension of the mooring ropes. The proposed strategy is finally testedon station keeping, and desired positions of a 1/50 scale model ship are obtained.