Development of Control Algorithm for Ship Berthing and Unberthing Systems Using a Joystick

Hong, Seong-Kuk; Jung, Yun-Ha; Won, Moon-Cheol; Kim, Sun-Young

Journal of Navigation and Port Research 2007;31(5):325-332.
Published online June 30, 2007.

조이스틱을 이용한 선박의 입출항 및 접이안 시스템의 제어 알고리즘 개발

홍성국, 정윤하, 원문철, 김선영

Development of Control Algorithm for Ship Berthing and Unberthing Systems Using a Joystick

Seong-Kuk Hong, Yun-Ha Jung, Moon-Cheol Won, Sun-Young Kim

Abstract

This study develops a control algorithm on berthing/unberthing systems using a joystick for ships with thrusters and a rudder. A nonlinear mathematical model for low speed maneuvering of typical container ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm for velocity feedback joystick control. Also a virtual HILS(hardware in the loop simulation) software program for berthing/unberthing is developed to test the performance of the nonlinear and a PID control algorithm. The program is developed using LabWindow/CVI, and a user can see current position and desired trajectory of ship in a monitor, then he can control forward and yaw velocities of a ship using a joystick. The simulation results show that the nonlinear and the PID controller have superior performance over a simple open loop joystick control algorithm.

Key Words: HILS(hardware in the loop simulation)시스템;PID 제어; Joystick;Berthing and unberthing system;MIMO(multi-input multi-output); HILS(hardware in the loop simulation) system;Thruster;Non-linear control;PID control