Control system design for vessel towing system by activating rudders of the towed vessel

International Journal of Naval Architecture and Ocean Engineering

Duc-Quan Tran¹  Young-Bok Kim²  Dong-Hun Lee³  Soumayya Chakir³ 

[1] Department of Mechanical System Engineering, The Graduate School, Pukyong National University, Nam-gu, Busan, South Korea;Corresponding author.;Department of Mechanical System Engineering, The Graduate School, Pukyong National University, Nam-gu, Busan, South Korea;

关键词: Towed vessel;    Towing ship;    Course stability;    Rudder;    Maneuverability;    Leader-follower;   

DOI  :  

来源: DOAJ

【 摘 要 】

In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is considered. The non-powered towed ship is dragged by the towing ship. Even though the towed ship is equipped with propulsion systems, they cannot be used at low or constant speeds due to safety issues. In narrow canals, rivers, and busy harbor areas especially, where extreme tension is required during towing operation, the course stability of the towed vessel depends on the towing ship. Therefore, the authors propose a new control strategy in which the rudder system of the towed vessel is activated to provide its maneuverability. Based on the leader-follower system configuration, a nonlinear mathematical model is derived and a back-stepping control is designed. By simulation and experiment results with a comparison study, the usefulness and effectiveness of the proposed strategy are validated.

【 授权许可】

Unknown