碩士 / 國立臺灣海洋大學 / 導航與通訊系 / 93 / This work is concerned with the design and experiment of an FRP boat-based GIS (Geographical Information System) and berthing control system. The developed system can be used in testing the performance of various autopilot design methods and also provides a cost-effective harbour waterways surveying platform.
The proposed system is consisted of several sensors, which provide the attitudes, and positions of the boat, wind speed and direction, and the water depth information. Moreover, two thrusters, personal computer, power system, GPS receiver and PDL (Position Data Link) communication equipments are installed on the boat.
System identification technique is used in finding the boat’s mathematical model, then the IMC (Internal Model Control) method is employed in designing the autopilot, which is implemented within the PID controller structure. A simple empirical approach is adopted in solving the dynamic allocation problem associated with the two-thruster berthing control maneuver. Computer simulations are first carried out in finding the feasible controller parameters, which are successfully realized in the real boat-based experiments.
The proposed IMC design approach proved to be very effective in implementing the course-keeping and berthing controller designs and the berthing control experimental results can provide useful guidelines for real ship berthing operations.
| Identifer | oai:union.ndltd.org:TW/093NTOU5300007 |
| Date | January 2005 |
| Creators | Wei-Liang Lin, 林蔚良 |
| Contributors | Ching-yaw Tzeng, 曾慶耀 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 136 |
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