Original scientific paper
https://doi.org/10.21278/brod71405
COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE
Bai Chunjiang
; Navigation College, Dalian Maritime University, Dalian 116026, China
Wang Hui
; Navigation College, Dalian Maritime University, Dalian 116026, China
Ju Tingting
; Navigation College, Dalian Maritime University, Dalian 116026, China
Shi Hanwen
; Navigation College, Dalian Maritime University, Dalian 116026, China
Abstract
This study examines the course-keeping control of directionally unstable large oil tankers involving a pole in the right half plane. Treated as an unstable plant in control engineering, tankers are theoretically and experimentally investigated during the controller design process. First, the unstable plant is mirror-mapped to its corresponding stable minimum phase plant using the mirror-mapping technique, which enables an easy controller design. Then, a linear proportional-differential and a first-order filter controller is designed based on the closed-loop gain shaping algorithm, which requires only one controller parameter to be properly selected based on the system’s characteristics. Numerical simulation results confirmed that the designed controller can successfully stabilise an unstable plant subjected to external wind and wave disturbances. The controller designed with the proposed method is suitable for course-keeping control of directionally unstable large tankers. The controller design method is simple with an uncomplicated structure that can easily be implemented in engineering endeavours. Moreover, the rudder motion is small and soft.
Keywords
Course keeping; large tanker; ship motion; directionally unstable
Hrčak ID:
246863
URI
Publication date:
31.12.2020.
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