Identification for a Heading Autopilot of an Autonomous In-Scale Fast Ferry

The aim of this paper is to obtain a heading model for the purpose of control of an in-scale fast-ferry TF-120 physical model, including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is developed to be autonomous and is controlled remotely from a PC using WiFi communications. The identification and validation of the model dynamics is obtained with turning circle maneuverings. The tests with the autonomous in-scale physical model of the high-speed ship were carried out on the coastline of the Bay of Santander. The parametric model identified is used to design different classical control structures for a heading autopilot, and a simulation of this system is performed in Simulink.

[1]  Francisco González,et al.  Full-scale manoeuvering trials simulation , 2004 .

[2]  J. Pomirski,et al.  Ship track-keeping: experiments with a physical tanker model , 1998 .

[3]  Robert H. Bishop.  Learning With Labview 7 Express , 2003 .

[4]  A.,et al.  Principles and Practice of Automatic Process Control , 2007 .

[5]  Karl Johan Åström,et al.  Maximum likelihood and prediction error methods , 1979, Autom..

[6]  Job van Amerongen,et al.  Adaptive steering of ships - A model reference approach , 1982, Autom..

[7]  Thomas L. Harman,et al.  Mastering Simulink , 2003 .

[8]  Jeffrey Travis.  Internet Applications in LabVIEW , 2000 .

[9]  T. M. Rueda,et al.  Turning circles of an autonomous high speed craft model , 2006 .

[10]  Ksm Davidson,et al.  TURNING AND COURSE KEEPING QUALITIES OF SHIPS , 1946 .

[11]  Karl Johan Åström,et al.  Identification of ship steering dynamics , 1976, Autom..

[12]  T. M. Rueda,et al.  MARINE VEHICLES WEB-WIFI PLATFORM FOR REMOTE EXPERIMENTATION PROGRAMMED IN LABVIEW , 2006 .

[13]  Tristan Perez,et al.  Ship Motion Control: Course Keeping and Roll Stabilisation Using Rudder and Fins , 2005 .

[14]  S. D. Lee,et al.  Autopilot Design for Track-keeping and Berthing of a Small Boat , 2006, 2006 IEEE International Conference on Systems, Man and Cybernetics.

[15]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[16]  Karl Johan Åström,et al.  Experiences of system identification applied to ship steering , 1981, Autom..

[17]  E. Moyano,et al.  Obtaining Ship Trajectories of an Autonomous In-scale Fast-ferry by Identifying a Heading Model , 2007, 2007 IEEE International Symposium on Intelligent Signal Processing.

[18]  Kensaku Nomoto,et al.  On the steering qualities of ships , 1956 .

[19]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[20]  Roger Skjetne,et al.  A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship , 2004 .

[21]  Neil Witt,et al.  Mathematical and scale model platforms for ship guidance trials , 1996 .

[22]  Lennart Ljung,et al.  System identification toolbox for use with MATLAB , 1988 .

[23]  Peter E. Kennedy.  A Guide to Econometrics , 1979 .