Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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A Ship Berthing System Design by Cooperating with Tugboats and Dampers

터그보트와 댐퍼 협조제어를 통한 선박접안시스템 설계에 관한 연구

  • Tran, Anh-Minh D. (Department of Control & Mechanical Engineering, the Graduate School, Pukyong National University) ;
  • Ji, S.W. (Department of Mechanical System Engineering, Pukyong National University) ;
  • Kim, Y.B. (Department of Mechanical System Engineering, Pukyong National University)
  • Received : 2014.05.24
  • Accepted : 2014.07.17
  • Published : 2014.09.01
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Abstract

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.

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References

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