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 analysis and experiment of a total berthing control system (TBCS) that integrates a track-keeping control module and a berthing control module. The waypoints defining the tracks are generated from the Bezier curve which allows smooth transition into the berthing standby zone. Both the yaw angle and the sway distance are used as feedback signals to activate the bow and stern thrusters, and proper thrust allocation is employed to achieve smooth sideway movements towards the berthing wall.
The Internal Model Control (IMC) method is adopted in the design of both the yaw and sway controllers. Computer simulations are conducted to find the feasible IMC design parameter □ values that give desirable responses. These □ values are found directly applicable in the small boat-based experiments, and only minimal time is required in locating the optimal value of □ that meets the berthing response requirements.
In short, this work uses an FRP small boat as the testbed that integrates the power module the navigation and guidance module, the control module, and the steering gear module in forming the total berthing control system (TBCS). Specifically, the Real Time windows Target working environment allows instant transfer of the simulink-based design blocks to the control of the small boat. The total berthing procedures proposed in this work can provide useful information on optimal berthing procedures needed in the full size vessel’s berthing operations.
| Identifer | oai:union.ndltd.org:TW/095NTOU5300013 |
| Date | January 2007 |
| Creators | Kai-Yu Shu, 許愷鈺 |
| 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 | 191 |
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