• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.55 no.2
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• pp.172-180
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• 2019

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.3
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• pp.231-238
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• 2018

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to ships. For example, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement that allows to test of autonomous ships in the defined area (port to port). Many countries and industries are pursuing to realize the autonomous vessel in the real world. In this paper, the authors try to develop related technology. As basic research, a ship model of the pilot vessel is developed and physical parameters are identified by experiment and simulations. Using the mathematical ship model, a control system is designed and control performance is evaluated by simulations.

• Journal of Mechanical Science and Technology
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• v.14 no.4
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• pp.393-400
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• 2000

In this paper, a new algorithm for noninteracting control system design is proposed and applied to ship propulsion system control. For example, if a ship diesel engine is operated by consolidated control with controllable pitch propeller (CPP), the minimum fuel consumption is achieved satisfying the demanded ship speed. For this, it is necessary that the ship is operated on the ideal operating line which satisfies the minimum fuel consumption, and the both pitch angle of CPP and throttle valve angle are controlled simultaneously. In this context of view, this paper gives a controller design method for a ship propulsion system with CPP based on noninteracting control theory. Where, linear matrix inequality (LMI) approach is introduced for the control system design to satisfy the given $H_{\infty}$, constraint in the presence of physical parameter perturbation and disturbance input. To the end, the validity and applicability of this approach are illustrated by the simulation in the all operating ranges.

• Journal of Ocean Engineering and Technology
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• v.14 no.4
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• pp.43-48
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• 2000

In this paper, an actively controlled anti-rolling system is considered to reduce the rolling motion of the ship. In this control system, a small auxiliary mass is installed on the upper area of the ship, and actuator us connected between the auxiliary mass and a ship. The actuator reacts against the auxiliary mass, applying inertial control forces to the ship to reduce the rolling motion in the desired manner. In this paper, we apply the PID controller to design the anti-rolling control system for the controlled ship. And the experimental result shows that the desirable control performance is achieved.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.301-306
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• 2006

The important field of research on ship operation is related to the high efficiency of transportation, the convenience of maneuvering ships and the safety of navigation. As a way of practical application for a smart ship based on network system, this paper proposes the intelligent support system for ship steering control system based on TCP/IP and desires to testify the validity of the proposal by applying the fuzzy control model to the steering control system. As the specific study methods, the fuzzy inference was adopted to build the maneuvering models of steersman, and then the network system was implemented using the TCP/IP socket-based programming. Lastly, the miniature model steering control system combined with LIBL (Linguistic Instruction-based Learning) was designed to testify for its effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.699-703
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• 2004

The autopilot system targets decreasing labor, working environment, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization, Dynamic ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And, Load Condition of ship acts as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that id disturbance act in non-linear form, become factor who make service of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using GA algorithm,design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.363-372
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• 2002

In ship operation, the roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization system design have been performed and good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used exclusively to stabilize the roll. But, in the roll stabilization control system, the control performance is very sensitive to the ship speed. So, we can see that it is important to consider the ship speed in the rudder roll control system design. The gain-scheduling control technique is very useful in the control problem incorporating time varying parameters which can be measured in real time. Based on this fact, in this paper we examine the;$H_{\infty}$-Gain Scheduling control design technique. Therefore, we assume that a parameter, the ship speed which can be estimated in real time, is varying and apply the gain-scheduling control technique to design the course keeping and anti-rolling control system far a ship. In this control system, the controller dynamics is adjusted in real-time according to time-varying plant parameters. The simulation result shows that the proposed control strategy is shown to be useful for cases when the ship speed is varying and robust to disturbances like wind and wave.

• Journal of Ocean Engineering and Technology
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• v.17 no.2
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• pp.60-66
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• 2003

In this paper, an actively controlled anti-rolling system is considered, in order to reduce the rolling motion of a ship. In this control system, a small auxiliary mass is installed on the upper area of the ship, and an actuator is connected between the auxiliary mass and the ship. The actuator reacts the auxiliary mass, applying inertial control forces to the ship to reduce the rolling motion in the desired manner. In this paper, we introduce LMI based H$_{\infty}$ control approach to design the anti-rolling control system for the controlled ship. And the experimental results show that the desirable control performance can be achieved.

• Journal of the Korean Society of Safety
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• v.22 no.6
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• pp.69-73
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• 2007

The recent huge maritime casualties and their environmental impacts showed that human error in ship navigation is one of the primary causes leading to accidents. In order to reduce maritime accidents and human errors in ship navigation, it is very important and urgent to improve the skills of navigators and develop advanced navigation support system for ship operations. For example, a SCMS(Ship Control and Management System), INS(Integrated Navigation System) and PCS(propulsion Control System) which are considered as a ship automation system was operated in ship. Furthermore, the most recent automation ships collision incidents warn us that only making automation ships alone is not sufficient for improving ship safety. Effective interaction between officer and ship automation system is essential for safety. In this paper, the interactive relationship between officer and the ship automation system was studied, then the research result for reducing maritime casualties will be presented.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.438-444
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• 2001

In this paper, an actively controlled anti-rolling system is considered to reduced the rolling motion of the ship. In this control system, a small auxiliary mass is installed on the upper area of the ship, and the actuator is connected between the auxiliary mass and the ship. The actuator reacts against the auxiliary mass, applying inertial control corves to the ship to reduce the rolling motion in the desired manner. in this paper, we apply the PID controller to design the anit-rolling control system for the controlled hip. And the experimental result shows that the desirable control performance is achieved.