Dynamic compensation system [ships]

Author

Kallstrom ; Theorén, Kalle

Author_Institution

SSPA Maritime Consulting AB, Goteborg, Sweden

fYear

1994

fDate

24-26 Aug 1994

Firstpage

1093

Abstract

A dynamic compensation system (DC-system) has been developed. It is used as an extension of the KaMeWa polar joystick system, where the horizontal motions of a ship are controlled by main propellers, rudders and bow thrusters. It acts like a compensator for wind and current disturbances, allowing the joystick operator to run the ship in almost all weather conditions as if it were calm. It generates additional commands, which are superimposed on the commands from the operator. It uses measurements of speed and heading, and wind speed and direction. Position measurements can also be processed. A nonlinear Kalman filter and a nonlinear controller is the kernel of the DC-system, which also includes a wind influence model and a separation model for dividing the measured speeds into a ship´s speed part and a water current part. Entering alarm limits is very simple. The parameters for a specific ship are determined with straightforward step response tests

Keywords

Kalman filters; compensation; filtering theory; interactive devices; nonlinear control systems; nonlinear filters; ships; stability; KaMeWa polar joystick system; alarm limits; bow thrusters; current disturbance; disturbance compensation; dynamic compensation system; main propellers; nonlinear Kalman filter; nonlinear controller; position measurements; rudders; separation model; ship control; step response tests; wind disturbance; wind influence model; Compensation; Computer input/output; Filtering; Kalman filtering; Marine vehicle control; Nonlinear filters; Nonlinear systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1994., Proceedings of the Third IEEE Conference on

Conference_Location

Glasgow

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1994.381362

Filename

381362