Presented in this paper is a new, expanded approach to setting the planned route within restricted sea areas where there are permanent obstacles or other vessels, and then tracking it by the ship. In this project the desired path is represented using a combination of straight-lines and arcs. For this purpose a cascade control system of the ship motion has been designed. The task of the outer loop controller to prepare the reference signal is executed by the reference signal generator. The control of angular velocity takes place in an inner loop using IMC approach. Numerical simulation studies of control algorithms that have been developed for lake trials of the training ship are also carried out to demonstrate the effectiveness of the proposed tracking control system.
Control System of Training Ship Keeping the Desired Path Consisting of Straight-lines and Circular Arcs
2017
Article (Journal)
Electronic Resource
Unknown
Control System , Enhancement of Maritime Safety , Model Ship , Ship Handling Research and Training Centre at Ilawa, Poland , Ship Handling , Numerical Simulation , Ship Motion , Reference Signal Generator (RSB) , Canals and inland navigation. Waterways , TC601-791 , Transportation and communications , HE1-9990
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