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128 ZESZYTY NAUKOWE AKADEMII MORSKIEJ W GDYNI, nr 78, marzec 2013

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DYNAMIC SHIP POSITIONING CONTROL WITH VARIOUS TYPES OF OBSERVERS. SIMULATION RESEARCH

Summary

The article presents the results of simulation tests of the multidimensional ship motion control system with dijferent types of observers. The mathematical model of ship dynamics is based on the model of the training ship “Blue Lady ” usedfor training captains in the Manoeuvring Centre of the Foundation for Sailing Safety and Emironment Protection on the lakę Silm in Ilawa/Kamionka. The algorithm of the multidimensional control of ship motion over water surface makes use of the State vector consisting of 6 variables, three of which are measured, including the position coordinates (x, y) measured by GPS, and the ship heading y/ measured by the gyro-compass. The three remaining yariables, i.e. u - surge velocity, v - sway velocity, and r-yaw velocity are estimated.

The objects of tests were the multidimensional control systems making use of estimators constructed based on the discrete Kalman fdter, the extended Kalman fdter, the continuous Kalman-Buca fdter, and the nonlinear observer.

Keywords: ship control, State observers, dynamie positioning systems.