DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김진환 | ko |
dc.contributor.author | 강민주 | ko |
dc.date.accessioned | 2017-01-13T05:02:13Z | - |
dc.date.available | 2017-01-13T05:02:13Z | - |
dc.date.created | 2016-12-20 | - |
dc.date.created | 2016-12-20 | - |
dc.date.issued | 2016-12 | - |
dc.identifier.citation | 로봇학회 논문지, v.11, no.4, pp.217 - 225 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | http://hdl.handle.net/10203/218742 | - |
dc.description.abstract | 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. | - |
dc.language | Korean | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 쌍동형 무인선의 동적위치제어에 관한 연구 | - |
dc.title.alternative | Dynamic Positioning Control of a Twin-hull Unmanned Surface Ship | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 11 | - |
dc.citation.issue | 4 | - |
dc.citation.beginningpage | 217 | - |
dc.citation.endingpage | 225 | - |
dc.citation.publicationname | 로봇학회 논문지 | - |
dc.identifier.doi | 10.7746/jkros.2016.11.4.217 | - |
dc.identifier.kciid | ART002166734 | - |
dc.contributor.localauthor | 김진환 | - |
dc.contributor.nonIdAuthor | 강민주 | - |
dc.description.isOpenAccess | N | - |
dc.subject.keywordAuthor | Unmanned Surface Vehicle | - |
dc.subject.keywordAuthor | Dynamic positioning | - |
dc.subject.keywordAuthor | Thrust allocation | - |
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