항만에서 선박의 신속하고 안전한 접안방법에 관한 연구

Abstract

Among the many operations carried out on the port, the vessel's berthing is a dangerous operation that can cause serious damage to the port and vessel or injury to the operator even by minor mistakes. In this paper, we conducted a study on how to perform these berthing works more quickly and safely. Existing berthing work is done with the help of several tugboats and requires several workers and smooth communication eash other. In this study, two pairs of winch and damper were used to create a berthing operation in a way that would give maximum effectiveness to the minimum workforce. This method is basically performed on the berthing system using a winch to pull the vessel. And the controller was designed to keep tension that changed by waves and other effects, proposed berthing method was evaluated by actual experiment. In this study, two types of controller are designed and applied for experiment : PID Controller and Sliding Mode Controller. Especially, the Sliding Mode Controller is designed based on Super-Twisting Algorithm. The key issue of ship berthing is system design to keep the desired rope tension in any conditions. From the simulation and experiment results, the usefulness of proposed control strategy and method is verified. Furthermore, this study give a good solution for difficult berthing problem and a prospective berthing technology to us.