Study on ship automatic berthing system with mooring lines

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• 作者：K. U. Yang ; J. G. Hur ; M. S. Choi ; D. J. Yeo ; J. H. Byun
• 关键词：Key wordsberthing ; mooring system ; bond graphs ; PID ; synchronous control
• 刊名：China Ocean Engineering
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：31
• 期：1
• 页码：19-29
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Offshore Engineering; Oceanography; Coastal Sciences; Fluid- and Aerodynamics; Marine & Freshwater Sciences; Numerical and Computational Physics, Simulation;
• 出版者：Chinese Ocean Engineering Society
• ISSN：2191-8945
• 卷排序：31

文摘

This study describes an automatic berthing system with mooring lines. It is designed to be berthed by using mooring device on the upper deck of a ship. It is to berth once maintaining parallel with the quay by controlling both forward and aft breast lines. Berthing method is used through length adjustment of mooring lines connected between ship and quay by controlling the angular velocity and the torque of hydraulic motor in mooring device. The study is conducted under three changing conditions of draft, such as even-keel, rise of the gravity center and trim to stern. Variables affecting berthing stability are determined based on the control performance of each condition. Bond graphs method is used to model the system. Controller is designed as PID control method of reference-model algorithm. The control program is composed of synchronous control system based on the equations derived with the numerical analysis. The tank test is conducted to verify the usefulness of the control program.