SVIBOR - Project code: 2-07-338

MINISTRY OF SCIENCE AND TECHNOLOGY

Strossmayerov trg 4, HR - 10000 ZAGREB
tel.: +385 1 459 44 44, fax: +385 1 459 44 69
E-mail: ured@znanost.hr

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Project code: 2-07-338


COMPLEX AND GOAL ORIENTED AUTOMATION OF THE GUIDANCE PROCESS OF A SHIP


Main researcher: KULJAČA, LJUBOMIR (24574)



Assistants
Type of research: applied
Duration from: 01/01/91. to 12/31/95.

Papers on project (total): 35
Papers on project quoted in Current Contents: 3
Institution name: Fakultet elektrotehnike i računarstva, Zagreb (36)
Department/Institute: Department of Control and Computer Engineering in Automation
Address: Unska 3
City: 10000 - Zagreb, Croatia
Communication
Phone: 385 (0)1 6129-795
Fax: 385 (0)1 6129-809
E-mail: zavod@auss1.rasip.fer.hr

Summary: The project "Complex and goal oriented automation of the guidance process of a ship", consists of mainly theoretical research of the dynamics of a ship. The ship is treated as a control object: for course and track-keeping, for rolling stabilization by use of rudder, and for dynamic positioning and coordinate control. Theoretical research of the ship's guidance system comprises of development of parameter identification methods for the course- keeping, track-keeping, roll stabilization and dynamic positioning of the ship. Devised parameter identification procedures are dealing with a ship as a linear and nonlinear control object, by use of results of experimental methods for the scale models in hydrodynamic basins, results of tests obtained during voyages with full scale ships, and theoretical methods in the frequency and time domain. Dynamics of a ship is tested on mathematical models by simulation of simulation models devised for this purpose. Control algorithms and control structures for various performance indexes are also investigated. Basic structure of the "ship-autopilot-disturbance" system for course and track keeping is properly described by reliable linear and nonlinear mathematical model and tested by simulation. Research involves analysis of ship's dynamics in calm water, channels, under wave, wind and sea current influence. Analysis of trim, depth under keel, and bottom relief to ship's dynamics and consequently its influence to control algorithm is treated. For the course and track keeping problem, various adaptive algorithms for autopilots are analyzed. Theoretical analysis of dynamics for sea vehicles involves determination of the mathematical models for overwater and underwater vehicles for various sailing conditions.

Keywords: ship, automation, guidance process, course and track-keeping, rolling stabilization, dinamic positioning, coordinate control, parameter identification, mathematical model, autopilot, adaptive controller, underwater vehicle

Research goals: Project goals are in the contribution of scientific and technological development in the area of ship's process control. In order to fulfil this goal, various identification methods for segments of ship processes, control structures and subsystems of integrated ship guidance, has to be tested, to improve security, economy and better human life onboard the ship. Analysis of defects, which ship's technology structures at present have, and keeping in mind the stated goals of the "ship of the future", contributes to perceiving structures and process activities, which will bring significant improvement of ship's functionality. For the segment related to the course and track keeping of the ship, identification methods will be investigated by use of simulation. Research will deal with dynamics of the ship while sailing in calm water, in channels, under wave, current and wind influence, depth under keel and sea bottom relief. For the course and track keeping, the adaptive algorithms for autopilot should be investigated. Applicability of the simultaneous stability algebraic method of design should also be explored. Closed loop control structure consisted of the ship, steering engine and autopilot will be worked out. In the process of identification the transfer functions of the ship for trim, depth under keel and external disturbances will be explored. Design method which simultaneously stabilize the ship in various sailing condition will be investigated. Robustness of the control system with adaptive autopilot will be tested by simulation. For the dynamic positioning and coordinate control of the floating vessels, research will deal with control structures, performance indexes, and appropriate mathematical models as well as testing those by simulation. Expected research results should contribute to the design of the efficient adaptive autopilot for course and track keeping, design of the dynamic positioning and coordinate control system as a subsystem of the integral control system of a ship. During research various control algorithms were investigated (conventional PID, self-tuning adaptive, simultaneous stabilization, predictive, fuzzy). It was shown that none of the above algorithms should be recomended for use in every voyage conditions. So, the imposed conclusion is that the appropriate solution should be saught in such a control system, which will be capable, depending on the voyage conditions, to choose appropriate control algorithm, while in the same time monitoring if the system components are working properly, and adequately reacting to any possible failures of them.


COOPERATION - INSTITUTIONS


  1. Name of institution: Univerza v Mariboru, Fakulteta za elektrotehniko, računalništvo in informatiko
    Type of institution: University/Faculty
    Type of cooperation: Systematic exchange of information
    City: Maribor, Slovenija

  2. Name of institution: Brodarski institut
    Type of institution: State institute
    Type of cooperation: Joint publishing of scientific papers
    City: 10000 - Zagreb, Croatia

  3. Name of institution: Univerzitat Rostock
    Type of institution: University/Faculty
    Type of cooperation: Systematic exchange of information
    City: Rostock, Njemačka

  4. Name of institution: Centralniy naučno isledovatelniy institut morskogo flota, CNIIMF
    Type of institution: State institute
    Type of cooperation: Occasional exchange of information
    City: St. Petersburg, Rusija

  5. Name of institution: The University of Aalborg, Department of Control Engineering
    Type of institution: University/Faculty
    Type of cooperation: Systematic exchange of information
    City: Aalborg, Danska

  6. Name of institution: George Mason University
    Type of institution: University/Faculty
    Type of cooperation: Occasional exchange of information
    City: Fairfax, SAD

  7. Name of institution: SSPA, Swedish Maritime Research Centre
    Type of institution: State institute
    Type of cooperation: Occasional exchange of information
    City: Goteborg, Švedska

  8. Name of institution: IFAC, Committe on Transportation Systems, WG on Control Applications in Marine Systems
    Type of institution: International organization
    Type of cooperation: Other

  9. Name of institution: Naval Postgraduate School
    Type of institution: University/Faculty
    Type of cooperation: Occasional exchange of information
    City: Monterey, SAD

  10. Name of institution: University of Trondheim, Department of Engineering Cybernetics
    Type of institution: University/Faculty
    Type of cooperation: Occasional exchange of information
    City: Trondheim, Norveška

  11. Name of institution: University of Strathclyde, Industrial Control Unit
    Type of institution: University/Faculty
    Type of cooperation: Occasional exchange of information
    City: Glasgow, Velika Britanija

  12. Name of institution: University of Tokyo, Department of Naval Architecture and Ocean Engineering
    Type of institution: University/Faculty
    Type of cooperation: Occasional exchange of information
    City: Tokyo, Japan

  13. Name of institution: Gwent College of Higher Education, Faculty of Technology
    Type of institution: University/Faculty
    Type of cooperation: Occasional exchange of information
    City: Newport, Velika Britanija

  14. Name of institution: Institute of Ship Automation
    Type of institution: State institute
    Type of cooperation: Occasional exchange of information
    City: Genova, Italija


OTHER ACHIEVEMENTS


  1. Name: Analiza sistema stabilizacije broda na kursu i trajektoriji
    Type of achievement: Studies of conduct

  2. Name: Koordinatno upravljanje plovnim objektima
    Type of achievement: Studies of conduct

  3. Name: Sinteza robustnih adaptivnih regulatora
    Type of achievement: Studies of conduct

  4. Name: Sinteza nelinearnog sistema automatskog upravljanja metodom simultane stabilizacije
    Type of achievement: Studies of conduct

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Last update: 10/06/95
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