E. Revestido

Remote laboratory for marine vehicles experimentation

This article describes a remote experimentation environment for marine vehicles (Hardware and Software) and its application in engineering education. The laboratory has an in‐scale model of a turbo‐ferry tf‐120 which keeps all the hydrodynamic characteristics of the full‐scale vessel. The physical model was developed to be autonomous and is controlled remotely from a PC using Wi‐Fi communications. It has the instruments commonly used in vessels such as: GPS, UMI, accelerometers and gyrocompass. A simulation of a manoeuvring model has been developed based on geometrical definitions and compared to a heading identified model. The possibilities of the remote laboratory for engineering education are discussed.

MARINE VEHICLES WEB-WIFI PLATFORM FOR REMOTE EXPERIMENTATION PROGRAMMED IN LABVIEW

Abstract This paper describes the development of a platform for performng tests on marine vehicles for cooperative actions, valid both for industrial application and for training in identification and control, using a physical in-scale model of an autonomous high-speed vessel. The model has an Industrial PC which acts as a web server and communicates through a wireless connection with a portable PC located on land. A software support in LabVIEW has been implemented in the Industrial PC which is capable of capturing and storing data. It is posible from a distance, via the web, to view data and modify the parameters of all of the instruments of the platform using the wireless network with wifi technology. This software is suitable for performing the Guidance, Navigation and Control (GNC) of the physical model since it permits the modification of commands.

Obtaining Ship Trajectories of an Autonomous In-scale Fast-ferry by Identifying a Heading Model

The aim of this paper is to obtain a model for an in- scale fast-ferry model TF-120 including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is autonomous and is controlled remotely from a PC using Wi-Fi communications. The identification and validation of the dynamical model is obtained with turning circle maneuverings. In this model are included the kinematical equations. The tests with the autonomous in-scale physical model of the high-speed ship were carried out in the surroundings of the Bay of Santander. With this model, simulations with several turbojets angles are made.

Manoeuvring model parametric identification of an autonomous in-scale fast-ferry model

The aim of this paper is to obtain a parametric models of manoeuvring for an in-scale fast-ferry model, TF-120. This model is autonomous and is controlled remotely from a PC using Wi-Fi communications. The tests with the autonomous in-scale physical model of the high-speed ship were carried out in the surroundings of the Bay of Santander.

Iterated nonlinear control of ship's manoeuvring models

This paper addresses the control design for a nonlinear vessel manoeuvring model. The authors consider a highly nonlinear vessel 4 DOF model. The proposed control algorithm consists of a combination of an iteration technique that approximates the original nonlinear model by a sequence of linear time varying (LTV) equations whose solution converge to the solution of the original nonlinear problem and, a lead compensation design in which for each of the iterated linear time varying systems, the controller is optimized at each time on the interval. The control designed for the last iteration is then applied to the original nonlinear problem. Simulations results show good performance of this approximation methodology and accurate tracking for certain manoeuvring cases under the control of the designed lead controller. The main characteristic of the nonlinear systems response are the reduction of the settling time and the elimination of the steady state error and overshoot.

IDENTIFICATION AND CONTROL EXPERIMENTATION WITH A REMOTE PLATFORM OF AN AUTONOMOUS IN-SCALE FAST-FERRY MODEL

Abstract In this paper a parametric lineal model of heading is obtained, using a remote experimentation platform for marine vehicles. This platform has an in-scale fast-ferry physical model, TF-120 which is autonomous and has all the elements required to emulate a real vessel. The physical model is controlled remotely from a PC using Wi-Fi communications. The tests for the data acquisition with the platform for marine vehicles were carried out in the surroundings of the Bay of Santander. The parametric model identified is used to design a PID controller for heading autopilot and a simulation of this system is performed in Simulink.