[논문]A Basic Study on Connected Ship Navigation System

Choi, Wonjin; Jun, Seung-Hwan

doi:10.5394/kinpr.2020.44.2.136

[국내논문] A Basic Study on Connected Ship Navigation System 원문보기

한국항해항만학회지 = Journal of navigation and port research, v.44 no.2, 2020년, pp.136 - 143

Choi, Wonjin (Graduate School of Korea Maritime and Ocean University) , Jun, Seung-Hwan (Division of Navigation Science, Korea Maritime and Ocean University)

Abstract ▼ AI-Helper

Maritime autonomous surface ships (MASS) has been developed over the years. But, there are many unresolved problems. To overcome these problems, this study proposes connected ship navigation system. The system comprises a slave ship and a master ship that leads the slave ship. To implement this system, communication network, route planning algorithms, and controllers are designed. The communication network is built using the transmission control protocol/Internet protocol (TCP/IP) socket communication method to exchange data between ships. The route planning algorithms calculate the course and distance of the slave ship using the middle latitude sailing method. Nomoto model is used as the mathematical model of the slave ship maneuvering motion. Then, the autoregressive with exogenous variables (ARX) model is used to estimate the parameters of Nomoto model. Based on the above model, the automatic steering controller is designed using a proportional-derivative (PD) control. Also, the speed controller is designed for the slave ship to maintain constant distance from the master ship. Sea experiments are conducted to verify the proposed system with two remodeled boats.

Keyword

표/그림 (16)

그림 Fig. 1 TCP/IP socket communication procedure
그림 Fig. 2 Ship fixed coordinate system
표 Table 1 Comparison of plane sailing method, middle latitude sailing method and great circle navigation method.
그림 Fig. 3 Block diagram of digital PD controller
그림 Fig. 4 Block diagram of relay feedback tuning method
그림 Fig. 5 Flowchart of slave ship speed controller
그림 Fig. 6 Experimental boats
그림 Fig. 7 Experimental site
그림 Fig. 8 Experimental scene for system identification
그림 Fig. 9 Trajectory of slave ship
그림 Fig. 10 Turning rate by sea trial(r) and ARX model(r_A)
표 Table 2 Specifications of boats
그림 Fig. 11 Critical oscillation graph
그림 Fig. 12 Experimental scene for system verification
그림 Fig. 13 Trajectories of master ship and slave ship
그림 Fig. 14 Rudder angle and motor pulse width of slave ship

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가설 설정

In this study, authors propose connected navigation system in which one manned master ship leads one or more unmanned slave ships. This system has the advantage that the crew of the master ship can move to an unmanned slave ship using a vehicle, so that it can be solved immediately in case of an emergency.

제안 방법

Liu and Bucknall(2015) developed an algorithm for the unmanned surface vehicle(USV) fleet navigation and verified it by computer simulations. The fleet is composed of one leader USV and two follower USVs, and the algorithm is designed to follow a planned route, avoiding collisions with other vessels by taking certain formation, such as straight line or triangle.
To implement this system, this paper deals with communication network, route planning algorithms, automatic steering controller and speed controller. The system of this research consists of one master and one slave ship as a basic study and is verified its effectiveness by sea experiments.
But, it has a large amount of calculation and has the disadvantage that the ship’s course should be changed frequently. So, simple calculation but high accuracy middle latitude sailing method was adopted in this study.
Nomoto model has limitations in representing the motion of the ship accurately. However, the purpose of this paper is to find out the effectiveness of the proposed system using RC boats, so simple Nomoto model was adopted that can predict the manoeuvring motion model of ship with minimal information. And the autoregressive with exogenous variables(ARX) model(Ljung, 1987) was used to estimate the manoeuvring indices K and T, unknown coefficients of Nomoto model.
The experiment was conducted to confirm that the slave ship autonomously follows the route of the master ship when the master ship is navigated manually. During the experiments, the Beaufort scale was 2 and the average wind speed was 1.
Then, the ARX model was used to estimate the parameters of Nomoto model. Based on the identified model, the PD controller was designed by numerical simulations and sea experiments, and applied to automatic steering. And the speed controller was designed to keep distance between the two ships constant by controlling the motor RPM of the slave ship.

대상 데이터

The Japanese NYK Line succeeded in the MASS trial performed in accordance with IMO interim guidelines(IMO, 2019). The sea trial was conducted by a car carrier Iris Leader(L : 200 m, B : 34.8 m, GT : 70,826 t)(NYK Line, 2019). The Korean government is planning a MASS project for 6 years from 2020 to develop core technologies(Ministry of Oceans and Fisheries, 2019).
Here, N is a coefficient for adjusting the bandwidth of the filter, and usually has a value between 8 and 20(Åström & Hägglund, 1995). It was set to 10 in this study.
This paper proposed connected ship navigation system. The system consists of a master ship and a slave ship. To implement the system, communication network, route planning algorithms and controllers were developed.

이론/모형

Communication network must be constructed first to design the system, because the slave ship needs to receive position data from the master ship wirelessly to set the route. The transmission control protocol / internet protocol (TCP/IP) socket communication method was used in this study. Fig.
In this study, however, the ship manoeuvring motion was handled on a discrete time series because the ship was controlled by a digital signal. The ship maneuvering motion was analyzed using the discrete-time ARX model. This model estimated the current turning rate by Eq.
To find the optimal values of parameters KP and TD of the digital PD controller, the relay feedback tuning method(Åström & Hägglund, 1984) was used.
(17) using the Ziegler-Nichols tuning method(Ziegler & Nichols, 1942).
To obtain the PD controller parameters K_P and T_D , the relay feedback tuning method was used. Adding a relay with an amplitude(d) of 10 and a transport delay of 1 second to the slave ship manoeuvring motion model, a critical oscillation graph with an amplitude(a) of 16.
Using the position of the master and slave ships, the route planning algorithms calculate the course of the slave ship by middle latitude sailing method. To design the automatic steering controller, Nomoto model was used as the mathematical model of the slave ship manoeuvring motion. Then, the ARX model was used to estimate the parameters of Nomoto model.

성능/효과

Sea experiments were conducted to verify the effectiveness of the proposed system. The experimental results revealed the effectiveness of proposed system by showing that the slave ship followed the route of the master ship autonomously while maintaining a constant distance from the master ship.

참고문헌 (16)

Akaike, H.(1969), "Fitting autoregressive Models for Prediction", Annals of the Institute of Statistical Mathematics, Vol. 21, pp. 243-247.

상세보기
Astrom, K. J. and Hagglund, T.(1984), "Automatic Tuning of Simple Regulators with Specifications on Phase and Amplitude Margins". Automatica, Vol. 20, No. 5, pp. 645-651.

상세보기
Astrom, K. J. and Hagglund, T.(1995), "PID Controllers: Theory, Design, and Tuning". 2nd Ed. Instrument Society of America.
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International Maritime Organization(IMO)(2018), "Report of the maritime safety committee on its ninety-ninth session(Agenda item 5)", MSC 99/22.
International Maritime Organization(IMO)(2019), "Interim guidelines for MASS trials", MSC.1/Circ.1604.
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Lee, C. Y., Kim, S. H. and Kim, W. S.(1985), "Some Considerations on the P.I.D. type Autopilot", Journal of Korean Navigation and Port Research, Vol. 9, No. 2, pp. 13-26.
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Ministry of Oceans and Fisheries(2019), Fourth Industrial Revolution on the Sea, Embarked on a Maritime Autonomous Surface Ships Development Project, http://www.mof.go.kr.
NYK Line(2019), NYK Conducts World's First Maritime Autonomous Surface Ships Trial, https://www.nyk.com.
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Yara International(2018), YARA selects Norwegian shipbuilder VARD for zero-emission vessel Yara Birkeland, https://www.yara.com.
Yoon, Y. J., Jun, S. H. and Moon, S. B.(2013) "Terrestrial Navigation", Maritime book publishing department of Korea Maritime and Ocean University.
Ziegler, J. G. and Nichols, N. B.(1942), "Optimum Settings for Automatic Controllers". Trans. ASME, Vol. 64, No. 11, pp. 759-768.

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DOI : 10.5394/KINPR.2020.44.2.136
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