This study examines the course-keeping control of directionally unstable large oil tankers involving a pole in the right half plane. Treated as an unstable plant in control engineering, tankers are theoretically and experimentally investigated during the controller design process. First, the unstable plant is mirror-mapped to its corresponding stable minimum phase plant using the mirror-mapping technique, which enables an easy controller design. Then, a linear proportional-differential and a first-order filter controller is designed based on the closed-loop gain shaping algorithm, which requires only one controller parameter to be properly selected based on the system’s characteristics. Numerical simulation results confirmed that the designed controller can successfully stabilise an unstable plant subjected to external wind and wave disturbances. The controller designed with the proposed method is suitable for course-keeping control of directionally unstable large tankers. The controller design method is simple with an uncomplicated structure that can easily be implemented in engineering endeavours. Moreover, the rudder motion is small and soft.


    Access

    Download


    Export, share and cite



    Title :

    COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE


    Contributors:
    Chunjiang, Bai (author) / Hui, Wang (author) / Tingting, Ju (author) / Hanwen, Shi (author)

    Publication date :

    2020-01-01


    Remarks:

    Brodogradnja : Teorija i praksa brodogradnje i pomorske tehnike ; ISSN 0007-215X (Print) ; ISSN 1845-5859 (Online) ; Volume 71 ; Issue 4


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Keeping cargoes clean and tankers business

    Meech, R. / Strom, P. | Tema Archive | 1989


    Large Canadian tankers

    Engineering Index Backfile | 1955



    Large European tankers

    Engineering Index Backfile | 1950


    Standardisation of large tankers

    Carter, N. | Engineering Index Backfile | 1957