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Koszyk
Switching-Based Multi-Operational Control of Ship Motion
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The monograph is part of the thematic stream related to automatic control of surface vessel motion, in particular with the development of control algorithms for unmanned ships, the appearance of which in the near future is expected. The work discusses one aspect of ship motion control, which is implementing the voyage route from the docking place located in the departure port to a new mooring place located in the destination port. Ship navigation on the desired route defined in the above way required designing a control system capable of executing various tasks, such as: ship un-berthing and berthing, maneuvering in the port area, movement along the desired path with transit speed, and stopping on the route.
| Rok wydania | 2018 |
|---|---|
| Liczba stron | 172 |
| Kategoria | Inne |
| Wydawca | Akademicka Oficyna Wydawnicza EXIT Andrzej Lang |
| ISBN-13 | 978-83-7837-591-3 |
| Numer wydania | 1 |
| Język publikacji | angielski |
| Informacja o sprzedawcy | ePWN sp. z o.o. |
POLECAMY
Ciekawe propozycje
Spis treści
| Nomenclature | |
| Summary | |
| Introduction | |
| 1. Mathematical modeling of ship | |
| 1.1. Introduction | |
| 1.2. Kinematics | |
| 1.3. Dynamics of the ship | |
| 1.4. Simplified models of ship's dynamics | |
| 2. Problems related to automatic control of ship motion | |
| 2.1. Introduction | |
| 2.2. Path planning | |
| 2.3. Guidance | |
| 2.4. Navigation | |
| 2.5. Control | |
| 3. Multi-operational control system for marine surface vessels | |
| 3.1. Problem of ship motion control | |
| 3.2. Switching systems used in control | |
| 3.3. Structure of switching-based control system for ship motion | |
| 3.4. Path planning | |
| 3.5. Supervisor | |
| 3.6. Estimating ship's speed | |
| 3.7. Bank of controllers | |
| 3.8. Conclusions | |
| 4. Experiments with multi-operational control system for ships | |
| 4.1. Setting of parameter values for control and navigation systems | |
| 4.2. Case study of navigation scenario | |
| 4.3. Conclusions | |
| Closing remarks | |
| Appendices | |
| Appendix A. Mathematical model of training ship blue lady | |
| Appendix B. Discrete-time Kalman filter | |
| Appendix C. Sample desired path | |
| Appendix D. Real-time software and hardware equipment | |
| References | |
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