Research into the Automatic Berthing of Underactuated Unmanned Ships under Wind Loads Based on Experiment and Numerical Analysis
| Autor: | Shuang Sun, Chen Guo, Zaiji Piao |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science automatic berthing user datagram protocol 020101 civil engineering Ocean Engineering 02 engineering and technology Active disturbance rejection control 0201 civil engineering lcsh:Oceanography 020901 industrial engineering & automation lcsh:VM1-989 Control theory Robustness (computer science) ComputerApplications_MISCELLANEOUS User Datagram Protocol lcsh:GC1-1581 Water Science and Technology Civil and Structural Engineering active disturbance rejection control unmanned ship Underactuation business.industry Process (computing) lcsh:Naval architecture. Shipbuilding. Marine engineering Automation Trajectory tank experiment line of sight business Marine engineering |
| Zdroj: | Journal of Marine Science and Engineering, Vol 7, Iss 9, p 300 (2019) Journal of Marine Science and Engineering Volume 7 Issue 9 |
| ISSN: | 2077-1312 |
| Popis: | With the continuous improvement of unmanned ship automation requirements, research into the automatic berthing of underactuated unmanned ships has important theoretical significance and practical value. In order to determine the trajectory of unmanned ships, the line of sight (LOS) algorithm was applied due to the characteristics of underactuated unmanned ships without side thrusters. In order to resist wind disturbance, the active disturbance rejection control (ADRC) method was applied to keep the ship moving on its intended trajectory. Then, to carry out the simulation analysis before the tank experiment, a remote-control simulation system based on a user datagram protocol (UDP) communication was built, and the ability of the ADRC controller to make the ship perform completely automatic berthing in both wind and no wind conditions was verified in simulations. Combined with the simulation results, a tank experiment was accomplished at the Japanese National Research Institute of Fishery Engineering. The experimental results also showed that the ADRC controller has good robustness, that the problems of insufficient autonomous route determination and the disturbance rejection ability in the process of the automatic berthing of underactuated unmanned ships are solved, and the safety of ship navigation is improved, which lays a theoretical and experimental foundation for the further development of unmanned ship control. |
| Databáze: | OpenAIRE |
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