Identification for a Heading Autopilot of an Autonomous In-Scale Fast Ferry

Author

Velasco, F.J. ; Herrero, E.R. ; Lopez, L. ; Moyano, E.

Author_Institution

Dept. of Electron. Technol. & Syst. Eng. & Autom. Control, Univ. of Cantabria, Santander, Spain

Volume

38

Issue

2

fYear

2013

fDate

Apr-13

Firstpage

263

Lastpage

274

Abstract

The aim of this paper is to obtain a heading model for the purpose of control of an in-scale fast-ferry TF-120 physical model, including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is developed to be autonomous and is controlled remotely from a PC using WiFi communications. The identification and validation of the model dynamics is obtained with turning circle maneuverings. The tests with the autonomous in-scale physical model of the high-speed ship were carried out on the coastline of the Bay of Santander. The parametric model identified is used to design different classical control structures for a heading autopilot, and a simulation of this system is performed in Simulink.

Keywords

identification; ships; vehicle dynamics; Bay of Santander; PC; Simulink; TF-120 physical model; WiFi communications; autonomous in-scale fast ferry; circle maneuverings; control structures; heading autopilot identification; high-speed ship; marine vehicles; model dynamics; parametric model; remote experimentation platform; Autoregressive processes; Instruments; Marine vehicles; Mathematical model; Modeling; Software; Turning; Control engineering education; heading control; marine vehicles control; parameter estimation; remote marine laboratory;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/JOE.2012.2227175

Filename

6380559