Full Content is available to subscribers

Subscribe/Learn More  >

Control of Ship Motion at Low Speed: Experiments With a Physical Tanker Model

[+] Author Affiliations
Leszek Morawski

Gdynia Maritime University, Gdynia, Poland

Nguyen Cong Vinh

Vietnam Maritime University, Hai Phong, Vietnam

Paper No. ESDA2008-59519, pp. 501-507; 7 pages
  • ASME 2008 9th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 2: Automotive Systems; Bioengineering and Biomedical Technology; Computational Mechanics; Controls; Dynamical Systems
  • Haifa, Israel, July 7–9, 2008
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4836-4 | eISBN: 0-7918-3827-7
  • Copyright © 2008 by ASME


The paper presents a system controlling ship motion at low speed. The control system makes use of three fuzzy logic controllers. They are: course keeping controller, longitudinal position keeping controller and transverse position keeping controller. Three controllers work independently to keep the ship hull centre at the reference point with the set course. The ship motion is controlled by tracing and following coordinates of the reference point. They change according to the assumed ship motion trajectory and speed. The ship control system use three propellers: bow thruster, stern thruster and the main propeller of the ship. The control signals (propellers powers) have the form of pulses with relevant amplitude and time duration. The pulsatory nature of the control signals was obtained by proper selection of the shape of the member functions in Mamdani-type controllers and the use of the bisector defuzzyfication method. The magnitude of the signal is changed in steps and plays the role of rough control while its duration is adjusted continuously and plays the role of fine control The control system was worked out in Matlab-Simulink with RTW, xPC-target toolboxes and tested on a scaled physical model of a tanker in the real lake environment. The system installed on model contain two PC computers and as the measured devices use DGPS RTK Leica system, ST20 Anschutz gyrocompass and Gill-windobserver. The paper discuss the controlling algorithm, along with the results of control system tests.

Copyright © 2008 by ASME
Topics: Motion , Ships , Tankers



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In