모바일 하버 자유항주 조종성능 시험기법 개발에 관한 연구

Abstract

The free running system of model ship of Mobile Harbor, which is a kind of feeder container ship is newly-designed for maneuvering tests. Mobile Harbor has two bow thrusters and two azimuth thrusters. For steering and propulsion, two motors of azimuth and four motors of propulsion need to be controlled. In this study, six-axis control system is established by using DC servo motors. For the measurements of position and speed, Real-Time Kinematic Dynamic Global Positioning System (RTK-DGPS) is established, because even small error of position in model ship can be overestimated in real ship due to scale ratio. Especially, additional RTK receiver is also used for the measurement of precise heading together with fiber-optic gyro and it is combined to the receiver of RTK-DGPS. All equipments including controllers and sensors are installed in model ship and they are connected to main server computer. Free running system are prepared for model tests on Mobile Harbor's maneuverabilities such as turning and zigzag maneuvers. In this paper, the main features of free running system for model ship of Mobile Harbor are introduced.