외란관측기를 통한 이접안시 선박의 조종모델 불확실성 및 환경외란 추정

Abstract

Maneuvering characteristic of a ship in harbor is different from open sea in that flow around ship changes because of restricted water and low speed. Especially in the case of the ship is berthing or unberthing, ship maneuvering motion is affected by port, which is called bank effect. In this study, disturbance observer was designed to estimate external disturbance and model uncertainty in ship berthing and unberthing situations. Mathematical modeling of ship maneuvering motion when ship is operating at push-pull mode in restricted water was conducted. Wind force, current force and bank effect caused by the port was also modeled and considered as external disturbances. As a result of this work, integrative control simulation environment containing ship mathematical maneuvering model and environmental disturbance in harbor was developed. Also, estimation of model uncertainty and external disturbance by disturbance observer was conducted and verified by numerical simulations.