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구동기 비선형 모델을 이용한 워터제트 추진 무인수상정의 조이스틱기반 이접안 제어 알고리즘Joystick Control Algorithm for Berthing and Unberthing of Waterjet Propelled Unmanned Surface Vehicle Using Actuator Nonlinear Model
- Other Titles
- Joystick Control Algorithm for Berthing and Unberthing of Waterjet Propelled Unmanned Surface Vehicle Using Actuator Nonlinear Model
- Issue Date
- 6월-2023
- Publisher
- 대한조선학회
- Keywords
- Warterjet(워터제트); Unmanned Surface Vehicle(USV; 무인수상정); Berthing and unberthing(이접안); Multi Input Multi Output(MIMO; 다중 입력 다중 출력); Remote control(원격 조종)
- Citation
- 대한조선학회 논문집, v.60, no.3, pp 165 - 174
- Pages
- 10
- Journal Title
- 대한조선학회 논문집
- Volume
- 60
- Number
- 3
- Start Page
- 165
- End Page
- 174
- ISSN
- 1225-1143
2287-7355
- Abstract
- Unmanned Surface Vehicle (USV)’s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV’s desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.
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