On the steering qualities of ships

Nomoto, Kensaku

doi:10.3233/isp-1957-43504

Cited by 278 publications

(133 citation statements)

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“…The course-keeping controller (46) was designed based on the first Nomoto model (Nomoto et al, 1957) obtained from the linearized model of ship dynamics proposed by Davidson and Schiff (1946) and given by the formula (36), following removing the sway speed v from these equations and further simplification, after which the first Nomoto model takes the form…”

Section: Course-keeping Controller (Controller 5)mentioning

confidence: 99%

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

Tomera

2017

International Journal of Applied Mathematics and Computer Science

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The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of basic maneuvers. This task requires integrating several operating modes, such as maneuvering the ship at low speeds, steering the ship at different speeds in the course or along the trajectory, and stopping the ship on the route. These modes are executed by five component controllers switched on and off by the supervisor depending on the type of operation performed. The desired route, containing the coordinates of waypoints and tasks performed along consecutive segments of the reference trajectory, is obtained by the supervisory system from the system operator. The former supports switching between component controllers and provides them with new set-points after each change in the reference trajectory segment, thereby ensuring stable operation of the entire hybrid switching controller. The study also presents designs of all controller components, which are done using a complex mathematical model of the selected ship, after its simplification depending on the type of controller. The developed control system was tested on the training ship Blue Lady and used to train captains at the Ship Handling Research and Training Center near Iława in Poland. The conducted research involved an automatic movement of the ship from one port to another. The performed transit route required the ship to leave the port, pass the water area, and berth at the port of destination. The study revealed good quality of the designed hybrid controller.

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Section: Course-keeping Controller (Controller 5)mentioning

confidence: 99%

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

Tomera

2017

International Journal of Applied Mathematics and Computer Science

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“…The simplest and most popular steering model is the first order turn rate model described in [Nomoto et al, 1957]. Although the model was developed for displacement vessels, it has been applied to semi-planing and planing vessels, as well.…”

Section: Modelingmentioning

confidence: 99%

“…Considering large displacement vessels, Nomoto and colleagues [Nomoto et al, 1957] suggested that turn rate can be described as a simple first order equation relating the rudder angle δr to the turn rate r at a given forward speed u 0 : without resorting to the full linearized steering model (4.21), one can incorporate a first order lag model for sideslip [Yu et al, 2008b]:…”

Section: Nomoto's Steering Modelsmentioning

confidence: 99%

Modeling, Identification, and Control of an Unmanned Surface Vehicle

Sonnenburg

Woolsey

2013

Journal of Field Robotics

139

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This dissertation addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and identification objective is to determine a model which is sufficiently rich to enable effective model-based control design and trajectory optimization, sufficiently simple to allow parameter identification, and sufficiently general to describe a variety of hull forms and actuator configurations. Beginning with a 6 degree of freedom nonlinear dynamic model, several linear steering and speed models are obtained as well as a thruster model.The Ribcraft USV tracks trajectories generated with the selected maneuvering models by using a backstepping trajectory controller. A PD cascade trajectory control law is also developed and the performance of the two controllers is compared using aggressive trajectories. The backstepping control law compares favorably to the PD cascade controller. The backstepping control law is then further modified to account for nonlinear sternward dynamics and for a constant or slowly varying fluid flow. ACKNOWLEDGMENTSThis dissertation is the product of the culmination of years of research and field experimentation that required the collective abilities only found in a group of skilled researchers. There are many people that guided me through the higher level decision-making and advising process as well as the more laborious experimentation and implementation efforts. Without these people I would not have been able to finish a dissertation even approaching this quality.

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“…Nonlinear controllers can overcome some limitations comparing with linear control design. For example, conventional ship control systems are designed under the assumption that the kinematic and dynamic equation of motion can be linearised such that gainscheduling techniques and optimal control theory can be applied [1,2]. It is not good in the condition that the surge, sway and yaw motion of ship are controlled simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Design of Sliding Mode Controller for Ship Position Control

Bui¹,

Kim²

2011

Journal of Institute of Control, Robotics and Systems

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This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

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On the steering qualities of ships

Cited by 278 publications

References 0 publications

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

Modeling, Identification, and Control of an Unmanned Surface Vehicle

Design of Sliding Mode Controller for Ship Position Control

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