쌍동형 무인선의 동적위치제어에 관한 연구 Dynamic Positioning Control of a Twin-hull Unmanned Surface Ship

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Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.
Publisher
한국로봇학회
Issue Date
2016-12
Language
Korean
Citation

로봇학회 논문지, v.11, no.4, pp.217 - 225

ISSN
1975-6291
DOI
10.7746/jkros.2016.11.4.217
URI
http://hdl.handle.net/10203/218742
Appears in Collection
ME-Journal Papers(저널논문)
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