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Leader Following 시스템 조종성능 개선을 위한 제어계 설계 및 실험적 평가 KCI 등재

Control system design and experimental evaluation for improving maneuvering performance of a leader following system

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수산해양기술연구 (Journal of the Korean Society of Fisheries and Ocean Technology)
한국수산해양기술학회(구 한국어업기술학회) (The Korean Society of Fisheriers and Ocean Technology)
초록

In this study, a motion control problem for the vessel towed by towing ship on the sea is considered. The towed vessel does not have self-control capabilities such that its course stability totally depends on the towing ship. Especially, in the narrow canal, river and congested harbor area, extreme tension is required during the towing operation. The authors, therefore, propose a new control system design method in which the rudder is activated to provide its maneuverability. Based on the leader following system configuration, a nonlinear mathematical model is derived and a backstepping control is designed. By experiment results with nonlinear control framework, the usefulness and effectiveness of the proposed strategy are presented.

목차
서 론
재료 및 방법
    예인선 및 피예인선 모델링
    제어기 설계
    결과 및 고찰
    실험장치
    피예인선 동특성 및 제어기 이득
    실험조건 및 방법
결 론
References
저자
  • 트란덕권(부경대학교 대학원 기계시스템공학과) | Duc-Quan TRAN (Department of Mechanical System Engineering, the Graduate School, Pukyong National University)
  • 김영복(부경대학교 기계시스템공학과) | Young-Bok KIM (Department of Mechanical System Engineering, Pukyong National University)
  • 김병각(부경대학교 대학원) | Byung-Gak KIM (the Graduate School, Pukyong National University) Corresponding author