http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
원문철(MOON-CHEOL WON),홍성국(SEONG-KUK HONG),정윤하(YUN-HA JUNG),김선영(SUN-YOUNG KIM),손남선(NAM-SUN SON),윤현규(HYUN-GYU YOON) 한국해양공학회 2008 韓國海洋工學會誌 Vol.22 No.3
his study discusses the design of an automatic berthing control algorithm for ships with a bow thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the law speed maneuvering of ships was used to design a MlMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called Line of Sight method. An optimal control force allocation method for the rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showedgood tracking performance.