Applications of Magnetic Sensors for Ship’s Course Keeping Control

• Main Authors: Chih-Yu Hsieh, 謝志佑
• Other Authors: Daw-Shang Hwang
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/49712188649151150334

碩士 === 國立臺灣海洋大學 === 輪機工程系 === 95 === ABSTRACT Gyrocompass is the key sensing device in the traditional course keeping control for ships. Although this inertial sensing device is reliable, however, it is seldom used in a smaller ship, such as yacht or fishing boat, due to its high cost. In the sensor technology, a solid state magnetic sensing device, usually known as magnetometer, has been successfully applied on attitude control of dynamic platforms. The advantages of small size and low cost of this sensor offer the capabilities for ship’s course keeping control. In this study, a Honeywell magnetometer-HMR3300 is considered for course measurement. In this thesis, a well-developed PID controller is applied to control the course of the ship. A linearized nominal model is adopted in the design, control parameters are determined either by Real-Valued Genetic Algorithms or by LQR design procedure. Simulated results show that both design can achieve satisfactory control performance. To implement the control system, a servo system is constructed which is operated by a stepping motor, a crude design for the course keeping control for a servo system is developed. LabVIEW programming is adopted to construct a graphical Human Machine Interface (HMI) for the servo control system. Experimental results show that the proposed design is suitable for controlling the course of the servo system. Further study is needed to link with the steering gear of the ship for real application.