On the Steering Quality Indices of Some Pod-Driven Ships

Sakuma, Shun; Naruse, Toshihiro

doi:10.2534/jjasnaoe.23.27

Cited by 4 publications

(5 citation statements)

References 1 publication

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“…We selected two ships as the analysis examples, that is, Italian research frigate 4) and Japanese research container ship, SR108 5) . The steering quality indices are obtained from the experiments in the papers with the minimal residue method 7) . The outline of analysis is shown in Fig.2, and the principal dimensions of the ships and the obtained indices are tabulated in Table 1.…”

Section: Ships To Be Analyzedmentioning

confidence: 99%

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The Optimal Steering Calculation Method of Passing through Several Waypoints

Sakuma¹,

Naruse²

2016

J.JASNAOE

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The authors made the analytical solution of ship trajectory by simple zigzag maneuver with equal time-alternative steering in their previous study. It is found, in this study, that 1) Lateral deviation remains even after the helm returns to midship, 2) The bigger the T(index of stability on course and quickness in responding to steering) becomes, the longer the maximum lateral deviation is delayed. These facts indicate it is hard to predict ship trajectory even by the simple steering. It is more difficult, consequently, to search the steering of passing through some waypoints. This report describes how to compute the optimal steering for passing through several waypoints by linear theory with constant velocity. The steering function is expressed as Fourier sine series with coefficients which are fixed by calculus of variations under the restriction on passing through all waypoints. A frigate and a container, as examples, are analyzed along with the target course represented by three waypoints. The analysis shows that ship length and Nomoto's steering quality indices have strong influence on both capability of passing through waypoints and lateral deviation from the target course.

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Section: Ships To Be Analyzedmentioning

confidence: 99%

“…Here, is arbitrary positive value larger than the poles on the real axis. Let us suppose that ̇ is expressed as (7). Hence,…”

Section: Appendix a * Functionmentioning

confidence: 99%

The Optimal Steering Calculation Method of Passing through Several Waypoints

Sakuma¹,

Naruse²

2016

J.JASNAOE

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“…With pod-like propellers, vessels can achieve rotation, reverse and horizontal movements without the use of separate rudders, propellers or fixed thrusters (Skjetne et al, 2004). Pod-like propellers represent one of the most promising new technologies in the field of ship propulsion (Sakuma and Naruse, 2016). For a USV, pod-like propellers not only meet the basic requirements for motion control, but can also improve performance and manoeuvrability.…”

Section: Introductionmentioning

confidence: 99%

Course keeping Control Based on Integrated Nonlinear Feedback for a USV with Pod-like Propulsion

Fan

Zhang

et al. 2018

J. Navigation

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In this paper, a response model of an Unmanned Surface Vehicle (USV) with a pod-like propulsion device is established. To improve the robustness of motion control in heavy sea states, an integrated nonlinear feedback course-keeping controller is proposed. First, to establish a response model of a USV with pod-like propulsion, model parameters are obtained by the method of system identification, then an integrated nonlinear feedback control strategy is proposed. The essence of this method is to make the original error signal pass through a nonlinear function, and then the output of this function is used to replace the original error signal. Simulation results show that under ordinary sea states, nonlinear feedback can save up to 34.5% of energy used compared with standard feedback methods; under heavy sea states, this can rise to 40.8%. A set of field experiments were carried out with a USV with pod-like propulsion. Results show that under heavy sea states, the test USV can maintain the target course well, which proves the correctness of the model and the robustness of the proposed method.

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“…The design of the pod is revolutionary in that the pod propeller can rotate 360 • around the shaft, and the propulsion device and the steering device are integrated, which means that the rudder is omitted. The power system of the podded propeller is placed outboard, and this can save much space inside the hull, which greatly increases the ship's design, construction and use of flexibility [5]. The pod propeller can increase the payload and improve the operational efficiency of the ship, so it has a broad market prospect and high application value.…”

Section: Introductionmentioning

confidence: 99%

Path following for podded propulsion unmanned surface vehicle: Theory, simulation and experiment

Wang

Fan

et al. 2018

IEEJ Transactions Elec Engng

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This paper addresses three interrelated problems concerning the path following of a podded propulsion unmanned surface vessel (USV), namely, the modeling of podded propulsion USV, the model parameter identification and the guidance law design. Based on hypotheses and simplification, three degree of freedom (DOF) manipulating mathematical model group (MMG) models of podded propulsion USV are reduced to the response model, and then, a series of field experiments (turning experiment and zig-zag experiment) is carried out to collect corresponding data. On this basis, the parameters of the model are obtained through the method of system identification. Meanwhile, the simulation data are compared with the actual data to verify the accuracy of the identification results. The conventional line-of-sight guidance is modified by adaptive sideslip angle and a time-varying lookahead distance, where the lookahead distance is adjusted by fuzzy algorithm. Lyapunov function is used to prove that all error signals in the system are uniformly ultimately bounded. Three numerical examples and the real ship field experiment have been described to illustrate the performance and effectiveness of the proposed scheme.

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On the Steering Quality Indices of Some Pod-Driven Ships

Cited by 4 publications

References 1 publication

The Optimal Steering Calculation Method of Passing through Several Waypoints

The Optimal Steering Calculation Method of Passing through Several Waypoints

Course keeping Control Based on Integrated Nonlinear Feedback for a USV with Pod-like Propulsion

Path following for podded propulsion unmanned surface vehicle: Theory, simulation and experiment

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