Session: 06-12-02 Ship Hydromechanics II

Paper Number: 81422

81422 - Ship Path Following Control via Output Redefinition Method in Restricted Waters 

The ship trajectory in restricted waters is affected by other ships moored or passing-by. The turning lag index and the turning ability index vary with the relative position and velocity of ships, and the risk of ships out of control may be pronounced. In this paper a control law for path keeping of underactuated surface ships in restricted water is presented. The potential flow theory and the panel method are used to calculate ship hydrodynamic interaction forces in real time, and then the MMG equation are applied to calculate the ship motion, then a fast algorithm is established to correct the ship trajectory affected by the hydrodynamic interaction. The line of sight method is used to merge the transverse distance from path and heading angle into an output, and the hydrodynamic interaction coefficient at each motion and position is calculated. The MMG equation is decoupled into two linear models by means of input-output feedback decoupling linearization, and the parameters of line of sight method are determined by internal dynamic stability. The Lyapunov equation is adopted to evaluate the stability of control law, and the simulation results for the ship trajectory and steering process have shown that the control algorithm is effectiveness in the problem of concern.

Presenting Author: Ping Xin Harbin Engineering University

Authors:

Xueqian Zhou Harbin Engineering University
Ping Xin Harbin Engineering University
Dezheng Jia Harbin Engineering University
Jin Huang Harbin Engineering University
Donghao Xu Harbin University of Science and Technology