Title :
Dynamic compensation system [ships]
Author :
Kallstrom ; Theorén, Kalle
Author_Institution :
SSPA Maritime Consulting AB, Goteborg, Sweden
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;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381362
