Abstract:
The paper presents a hybrid controller that controls the movement of a ship in various operating modes. The developed controller integrates a number of operational modes,...Show MoreMetadata
Abstract:
The paper presents a hybrid controller that controls the movement of a ship in various operating modes. The developed controller integrates a number of operational modes, such as: precise maneuvering the ship at low speeds, steering the ship at different speeds along the set trajectory or on the course, 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 controller.
Published in: 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR)
Date of Conference: 29 August 2016 - 01 September 2016
Date Added to IEEE Xplore: 26 September 2016
ISBN Information: