<abstract xmlns="http://www.w3.org/1999/xhtml">The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of basic maneuvers. This task requires integrating several operating modes, such as maneuvering the ship at low speeds, steering the ship at different speeds in the course or along the trajectory, and stopping the ship on the route. These modes are executed by five component controllers switched on and off by the supervisor depending on the type of operation performed. The desired route, containing the coordinates of waypoints and tasks performed along consecutive segments of the reference trajectory, is obtained by the supervisory system from the system operator. The former supports switching between component controllers and provides them with new set-points after each change in the reference trajectory segment, thereby ensuring stable operation of the entire hybrid switching controller.The study also presents designs of all controller components, which are done using a complex mathematical model of the selected ship, after its simplification depending on the type of controller. The developed control system was tested on the training ship <italic>Blue Lady</italic> and used to train captains at the Ship Handling Research and Training Center near Iława in Poland.The conducted research involved an automatic movement of the ship from one port to another. The performed transit route required the ship to leave the port, pass the water area, and berth at the port of destination. The study revealed good quality of the designed hybrid controller.</abstract>

The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of basic maneuvers. This task requires integrating several operating modes, such as maneuvering the ship at low speeds, steering the ship at different speeds in the course or along the trajectory, and stopping the ship on the route. These modes are executed by five component controllers switched on and off by the supervisor depending on the type of operation performed. The desired route, containing the coordinates of waypoints and tasks performed along consecutive segments of the reference trajectory, is obtained by the supervisory system from the system operator. The former supports switching between component controllers and provides them with new set-points after each change in the reference trajectory segment, thereby ensuring stable operation of the entire hybrid switching controller.The study also presents designs of all controller components, which are done using a complex mathematical model of the selected ship, after its simplification depending on the type of controller. The developed control system was tested on the training ship Blue Lady and used to train captains at the Ship Handling Research and Training Center near Iława in Poland.The conducted research involved an automatic movement of the ship from one port to another. The performed transit route required the ship to leave the port, pass the water area, and berth at the port of destination. The study revealed good quality of the designed hybrid controller.

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of...

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

Published Online: May 04, 2017

Page range: 63 - 77

Received: Apr 10, 2016

Accepted: Dec 17, 2016

DOI: https://doi.org/10.1515/amcs-2017-0005

Keywords
hybrid switching controller, ship autopilot, desired route

© by Mirosław Tomera

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

Published Online: May 04, 2017

Page range: 63 - 77

Received: Apr 10, 2016

Accepted: Dec 17, 2016

DOI: https://doi.org/10.1515/amcs-2017-0005

Keywordshybrid switching controller, ship autopilot, desired route

© by Mirosław Tomera

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
hybrid switching controller, ship autopilot, desired route