Automatic berthing control under wind disturbances and its implementation in an embedded system
Automatic berthing control under wind disturbances and its implementation in an embedded system
复制标题
DOI：
10.1007/s00773-023-00934-9
复制
发表时间：
2023-03
影响因子：
2.6
通讯作者：
R. Sawada;K. Hirata;Y. Kitagawa
中科院分区：
文献类型：
--
作者：
R. Sawada;K. Hirata;Y. Kitagawa
本文提出了一种实用的风扰环境下自动靠泊的算法及其实现。靠泊作业是海员面临的最复杂的任务之一。高度繁重的靠泊操作的自动化可以用来帮助海员。在本研究中，我们分析了风干扰对路径跟踪的影响，并提出了一种新的路径跟踪控制算法，该算法采用了引入前馈控制的二自由度控制器。我们还提出了一种在路径规划中引入跑道来减少路径偏差的方法。通过数值仿真和实船试验验证了该方法的有效性，在风扰动情况下，该方法表现出了比以往方法更好的性能。本文所验证的算法是作为一个PLC系统AutoBerth PLC实现的。PLC是一种运行稳定的工业计算机。利用AutoBerth PLC进行了实船自动靠泊实验，验证了该系统比笔记本电脑控制更快、更稳定。为了实现一个实用的系统，在某海上自主式水面舰艇(MASS)上实现了ODD告警功能、PLC自诊断回落响应告警功能和通信监控功能，并在实验船上进行了验证。
This paper proposes a practical algorithm and its implementation of automatic berthing in wind disturbances environments. Berthing operation is one of the most complex tasks for seafarers. Automation of the highly burdensome berthing maneuver can be used to assist seafarers. In this study, we analyze the effect of wind disturbance on path following and propose a new path following control algorithm using a 2-DoF controller that introduces a feed-forward control. We also propose a method to reduce path deviation by introducing a runway in path planning. The effectiveness of the proposed method is verified by numerical simulations and shipboard tests using an experimental ship, and the proposed method shows higher performance under wind disturbance than the previous methods. The algorithm verified in this study is implemented as a PLC system, AutoBerth PLC. A PLC is an industrial computer, stable in operation. Using the AutoBerth PLC, we conducted an experiment of automatic berthing by an actual ship and confirmed that the system can be controlled faster and more stable than when controlled by a laptop. To realize a practical system, an alert function for the ODD, an alert function for fallback response regarding self-diagnosis of PLCs and communication monitoring functions were implemented as required functions in a maritime autonomous surface ship (MASS), and these functions were verified on the experimental ship.