Application of Track-keeping Control to Fast Time Ship handling simulation

• Main Authors: Po- Chun Chen, 陳柏均
• Other Authors: Ching-Yaw Tzeng
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/06574011688880559075

碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 95 === This work is concerned with the design of a guidance law and an autopilot to achieve automatic harbour approach maneuver under the fast time ship handling simulator frame work. A Knox class frigate is taken as the ownship to achieve automatic steering into Keelung harbour . For an initial speed of 9.4kt(EOT=2),the frigate is able to steer into the harbour under no disturbance, wind only, and current only condition , when both the wind and the current are present , the automatic approaching maneuver failed. However, by proper modification of the way point, successful approaching maneuvers are achieved under the combined effects of wind and current. For an initial speed of 4.4kt(EOT1),the rudder is ineffective and unable to cope with either the wind or the current. This work adopts the IMC(internal Model Control)design, which is easy in implementation. Through proper choice of the IMC design parameterβand a prefilter, successful track-keeping maneuvers are achieved with minimal overshoot. In short, a ship handling simulator-based course control and tracking maneuvers are achieve by employing the Matlab/simulation Real Time Windows Target environment and a PCI-6071 I/O card. The automatic harbour approaching procedures studied in this work might be helpful in future fast time ship handling simulation projects undertaken at National Taiwan Ocean University.