A Ship Berthing System Design by Cooperating with Tugboats and Dampers

Tran, Anh-Minh D.; Ji, Sang-Won; Kim, Y. B.

doi:10.7839/ksfc.2014.11.3.007

“…Additionally, barge ships are usually much larger and heavier, so the towing force from single tugboats would be insufficient and multiple tugboats with an appropriate allocation are required. For instance, the combination of two tugboats and a damper system was suggested in [4][5][6] to ensure the stable and fast berthing operation of a mother ship. The tugboats pushed the ship from one side following the berthing direction, while the damper system was fixed on the harbor contacts and supported the ship from the other side.…”

Section: Introductionmentioning

confidence: 99%

“…damper system was suggested in [4][5][6] to ensure the stable and fast berthing operation of a mother ship. The tugboats pushed the ship from one side following the berthing direction, while the damper system was fixed on the harbor contacts and supported the ship from the other side.…”

Section: Introductionmentioning

confidence: 99%

Motion Control System Design for Barge-Type Surface Ships Using Tugboats

Lee

¹

,

Huynh

²

,

Kim

³

et al. 2022

JMSE

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Barge ships are designed to transport and assemble heavy and massive pieces of equipment at sea. Active propulsion systems are not installed in this type of ship, so the desirable motion and positioning of these ships can only be achieved with the assistance of several tugboats. In this study, the dynamical characteristics of barge conveying systems were formulated and robust control systems were designed to ensure efficient barge operation. To achieve these objectives, we first developed a mathematical model of a barge ship, which incorporated a novel conveying system configuration using tugboats. We then designed a robust controller for the tugboats that used the sliding mode law to deliver the desired barge motion performance. Finally, the usefulness of the proposed configuration and controller was verified via simulation studies using another system with an H∞ controller. The proposed sliding mode controller showed superiority, especially in terms of robustness against disturbances.

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“…More advanced studies for guiding ship with four tugboats [8,9], and damper and rope [10,11,12] have been carried out. The objectives of these studies are to improve the stability of the docking operation at the final stage or restricted maneuvering environment.…”

Section: Introductionmentioning

confidence: 99%

Leader-Following Control System Design Based on Back-stepping Control Strategy

Lee¹,

Qing²,

Kim³

2020

Preprint

0

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In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

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“…To partially overcome the stability problem of the berthing process, several solutions were proposed. In these cases, the ship is moved in parallel to the seawall with only the side thrusters to complete the final step [7][8][9][10][11][12]. The objectives of these studies are to improve the stability of the docking operation at the final stage or restricted maneuvering environment.…”

Section: Introductionmentioning

confidence: 99%

Leader-Following Control System Design Based on Back-stepping Control Strategy

Lee¹,

Quân²,

Kim³

2020

Preprint

0

View full text Add to dashboard Cite

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

show abstract

A Ship Berthing System Design by Cooperating with Tugboats and Dampers

Cited by 11 publications

References 11 publications

Motion Control System Design for Barge-Type Surface Ships Using Tugboats

Motion Control System Design for Barge-Type Surface Ships Using Tugboats

Leader-Following Control System Design Based on Back-stepping Control Strategy

Leader-Following Control System Design Based on Back-stepping Control Strategy

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