Estimation of Ship Hydrodynamic Coefficients in Harbor Maneuvers and its Applications

作     者：Minh-Duc Le Duc-Hung Nguyen 

作者机构：Graduate School of Engineering Hiroshima University. Higashi Hiroshima-shi Kagamiyama 1-4-1 Hiroshima 739-8527 Japan Ship Maneuvering Laboratory Tokyo University of Mercantile Marine 2-1-6 Etchyujima Koto-ku Tokyo 135-8533 Japan 

出 版 物：《IFAC Proceedings Volumes》 

年 卷 期：2000年第33卷第16期

页      面：227-232页

主　　题：estimation algorithms Kalman filter low-pass filter ship nonlinear control Decoupling control tracking controller 

摘      要：This paper presents a new method for estimation of ship hydrodynamic coefficients in harbor maneuvers and its applications to control ships. Described are the ways to achieve very high accuracy in the measurements of a model ship s position during free-running tests, to detect high frequency external effects, and to estimate the coefficients with high accuracy. Estimated coefficients of the World Mitsubishi ship were used to design a non-linear position and attitude-tracking controller for the ship by applying the Decoupling Control Method. Excellent simulation results prove the effectiveness of the estimation method and designed controller.