Journal of Shanghai Jiao Tong University ›› 2016, Vol. 50 ›› Issue (03): 472-478.

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Track-Keeping and Positioning Control in Vessel Towing Operation

YU Shengjie,PANG Shikun,LI Yinghui,ZHANG Yufang   

  1. (State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2015-01-11 Online:2016-03-28 Published:2016-03-28

Abstract: Abstract: Considering the marine environment and cable drag force in vessel towing operation when trackkeeping and positioning, the motion model coupling between the vessel, the towed cable and the towed body was built. The control system had a strong nonlinearity and the design FuzzyPID (proportion integration differentiation) controller synthesis for the effect of fuzzy control alone was not satisfactory. The controller contained three modules, i.e., large error used Fuzzy control module, small error used FuzzyI control module, and microerror used FuzzyPID synthesis control module. The simulation result showed the track of towed body when the vessel was under disturbance, and verified the stronger antiinterference and robustness of the controller through point positioning control simulation. This algorithm is able to achieve high accuracy positioning control.

Key words: Key words: towed operation, coupling, non-linear, fixed point and positon control

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