Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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System Identification and Pitch Control of a Planing Hull Ship with a Controllable Stern Intercepter

능동제어가 가능한 선미 인터셉터가 부착된 활주선형 선박의 시스템 식별과 자세 제어에 관한 연구

  • Choi, Hujae (Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Park, Jongyong (Department of Naval Architecture and Marine Systems Engineering, Pukyong National University) ;
  • Kim, Dongjin (Korea Research Institute of Ship and Ocean Engineering, Korea Institute of Ocean Science and Technology) ;
  • Kim, Sunyoung (Korea Research Institute of Ship and Ocean Engineering, Korea Institute of Ocean Science and Technology) ;
  • Lee, Jooho (The 6th R&D Institute, Agency for Defense Development) ;
  • Ahn, Jinhyeong (The 6th R&D Institute, Agency for Defense Development) ;
  • Kim, Nakwan (Research Institute of Marine Systems Engineering, Seoul National University)
  • 최후재 (서울대학교 조선해양공학과) ;
  • 박종용 (부경대학교 조선해양시스템공학과) ;
  • 김동진 (한국해양과학기술원 부설 선박해양플랜트연구소) ;
  • 김선영 (한국해양과학기술원 부설 선박해양플랜트연구소) ;
  • 이주호 (국방과학연구소 제6기술연구본부) ;
  • 안진형 (국방과학연구소 제6기술연구본부) ;
  • 김낙완 (서울대학교 해양시스템공학연구소)
  • Received : 2019.03.05
  • Accepted : 2018.07.09
  • Published : 2018.10.20
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Abstract

Planing hull type ships are often equipped with interceptor or trim tab to improve the excessive trim angle which leads to poor resistance and sea keeping performances. The purpose of this study is to design a controller to control the attitude of the ship by controllable stern interceptor and validate the effectiveness of the attitude control by the towing tank test. Embedded controller, servo motor and controllable stern interceptor system were equipped with planing hull type model ship. Prior to designing the control algorithm, a model test was performed to identify the system dynamic model of the planing hull type ship including the stern interceptor. The matrix components of model were optimized by Genetic Algorithm. Using the identified model, PID controller which is a classical controller and sliding mode controller which is a nonlinear robust controller were designed. Gain tuning of the controllers and running simulation was conducted before the towing tank test. Inserting the designed control algorithm into the embedded controller of the model ship, the effectiveness of the active control of the stern interceptor was validated by towing tank test. In still water test with small disturbance, the sliding mode controller showed better performance of canceling the disturbance and the steady-state control performance than the PID controller.

Keywords

References

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