Advanced portable automatic control system under simple operation

DIXIÈME

TECHNISCHE UNIVERSITEIT Laboratorium 'icor Scheepahydromechanica kchlef. Moketweg 2,2628 CD Deift YeL 015-756873- Faz 015781838

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ADVANCED PORTABLE AUTOMATIC CONTROL

SYSTEM UNDER SIMPLE OPERATION

Keiiclzi. Karasuno, Hiroharu Matsushirna

Hokkaido University, Faculty of Fisheries.

&

Hiroyuki Oda, Kazuyuki Igarasizi

Akishima Laboratories (Mitsui Zosen) Inc.

ABSTRACT

The ship handling by a human operator using a controllable pitch propeller, a rudder, and side thrusters is so troublesome against complex operations of these devices and especially under the external disturbances in

dead slow speed during ocean research. In order to overcome human

weariness owing to these problems, we had developed the portable automatic control system (PACS). Successful results of this control system with an early version were reported at the Ninth SCSS in 1990.

In this paper, we present the Advanced Portable Automatic Control System (APACS) under the simple operation by human operator. The

APACS can always keep ship's heading as the basic function and automati-cally select each one of four control modes by the operations of a joystick

lever and a steering wheel. The fir.st is for crabbing motion with courses

keeping control by the joystick lever. The second is for the spot turning motion with yaw-rate control by the rate/course wheel. The third is for the combined motion of the two mentioned above by the joystick lever and the rate/course wheel. And the last one has the most distinctive feature which can keep the ship's position by the use of longitudinal and lateral velocities due to the doppler log while the joystick lever and the rate wheel are in null

positions.

After feasibility study and computer simulation of this control system, we show the results of full scale experiment operating the APACS at sea.

t 1. INTRODUCTION

jThe research ship 'Ushio Mani" of a faculty of fisheries was engaged in

research works involving biological, chemical, physical oceanography and

scientific fisheries on coastal seas around the southern part of Hokkaido in

north of Japan. In the case of researches of fisheries and ocean sciences, the

crew can operate her well in dead slow speed using the actuators of a

controllable pitch propeller (Cpp), a bow and a stern thrusters and a rudder in order to keep her course crabbing with steady speed.

However, manual óperatioiis of these actuators to keep ship's potision might cause troublesome for operators against the sorne devices and under some external influences during ocean ròsearch works. In order to solve these problems, we developed the portable automatic control systems

(PACS).[1] Successful results of the FACS with early version was reported at the ninth ship control system symposium in Bethesda, USA in 1990.[2] In

this paper, we present the, Advanced Portable Control System (APACS)

under much simpler operation for the crew.

In Section 2, we descilbe the design concepts and requirements concerned with the software as well as hardware. In Section 3, we discuss the presum-able layout of the operating systems and discuss the main functions of the APACS. In Section 4, we describe the hard ware and the soft ware systems for realization through the design concepts. In Section 5, we summarize the complete simulating design, numerical results of typical motions and the results of full scale experiments using research ship Ushio Maru". Finally,

in Section 6, we summarize the conclusions and discussions.

DESIGN OF APACS

2.1 Concept Overviews

Recently, fisheries, researches and training vessels are used to be designed to equip 'vith high skewed controllable pitch propeller, high maneuverable rudder systems and side thrusters, so as to obtain safe and easy workability on board. While conducting ocean research works, the manual operation of

the ship via these actuators mentioned above, _{causes troublesome due to}

some kinds of disturbances.

For the sake of the simple operation and quick response, particularly cooperating with side thrusters and Cpp, the automation of maneuvering controls by a single joystick lever and yaw-rate steering wheel allows the ship handling the many benefits of her performances available.

In fact, the use df several actuators results in a far simpler operation in propulsion and steering control systems as the main engines may be run at a constant speed in the ahead motion. The results to date suggest the suitability of these high performance control systems for commertail vessels, as well as for vessels with the requirement of tight track keeping and/or dynamic

positioning.

2.2 Design Concepts

Jn aid of the design of the proposed APACS , the brief descriptions of the

concepts are given below;

(1) The APACS can always keep ships heading as the basic functions and automatically select each one of four control modes by the defiections of the joystick lever and rate wheel in operation.

2-116

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(2). The APAÇS con trçl the heading angle due to gyro compass, yaw-rate duc to raie sensor and also longitudinal and lateral velocities due to doppler log

(3) The APACS introduces a step forward control of the shipboard,_by

combing the reliability and flexibility of micro computers regarding

withthe sithplicity òfcoñtrolprocedures: .

. :. l..PRINCIPAL DIM.ENSIONS.ETC. ..'. Length(O \. ) 33 13m L. ngth(P.P.) r: 1 Sreadth(Mlcl) DeptÑMld) f

Full Loac1 Draft(Mld) 2 69m

Gross Tonnage '

...t

Full Load Displacement 336 44 t

2.i_COMPLEMENT' r

Officers & Crews . 7 .1...

Instructors 4 P Cadets SP 19P '650m Total

3. CAPACITP'i.:

Fish FIOlCI.: ' ' 8. 40rn

Fuel OiI.Tan'ks'

'.

. 29. 7Om

FreshWater.F,anks ...

'vater Ballast Tk 6 Slm

Anti.Rhlling. Tk: H

.'

_i8.97m:

'.4V.. MAIN ENGINE& GENERATORS

Main Engine YANMAR M220 UN -" -« 1.000PS x 800rpm.''. lsei

Propeller _{:' High Skewed C.P.P .lset}

Shaft Generator 160k VA. . Iset

Generator 200k VA Iset

Bow Thruster : lt ' iset

Stern Thruster : it iset

5. SPEEQ.&'ENPUANCE' « '

rrIdl Ma Speed 12 2kts

Lnd1ui ance

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h SCFII DULL:

DcÌiered .

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. S'eptember 28. 1992

Table ¡. The pai1iculaiof "Usizio Mani"

.2-117

4) The manual control of actuators mentioned above, leads the

operators to the complex adj ustmcnts.The APACS may greatly decrease the Iroub lesoinc operators.

These concepts have already developed and realized by authors as the joystick control systems for military vessel, coast guard ship and some

research ship.

3. FACULTY OF APA CS

3.1 Operation of the "Ushió Maru"

Research Ship "Ushio Mani" of the faculty of fisheries, Hokkaido University, is used for experiment and training for cadets, researchers of fisheries and ocean sciences. The scope of experiments and training are fisheries research and biological oceanography. The kinds of fisheries are stern trawl fishing and long line fishing et al. The particulars of the ship are

summarized in Table i and her general airangemnent and the photograph are

shown in Fig. i and Photo 1. The maneuvering image during oanographic

observations, which may suggest basic strategies of the APACS, is shown in

Fig.2 and Photo.2.

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Fi.gure 1: The general arran,gelnenls of "Us/zio Morii"

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Fi&ure 2: The image ofocecinograp/zic observation

¡'hoto 1: The view of "Ushio Man"

2-119 Measurement equipment r 7 .%

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Photo 2: The view of oceanographic _{operation by 1/ic APA CS}

Table 2: _{The control mode of the APA CS}

2-120

(I) Selectable of specd control _mode

(2) Selectable of power up mode

:

Joystick lever

Neutral _Non-neutral

Rate wheel Neutral Heading control mode (I) Heading control mode (2)

2-121

At the Stopping conditions, the long _{cable deploys the observation}

instrument over the starboard side of the. midship_{as shown in Fig.2. To}

prevent the cable from tangling under the ship or into screw during observa-tions, the ship had been controlled carefully by the crew. In this manner, if

the ship is off its desired performance, then _{her heading and the longitudinal}

and lateral velocities set _{zero value would be adjusted automatically by the}

APACS.

3.2 Operating Mode

The organizations of the APACS as a whole, is represented by Fig.3. The APACS automatically select one of four control modes by the

deflec-tions of a joystick lever and _{a rate wheel as shown in Table 2.}

(1). Zero speed control mode

If both joystick lever and rate wheel _{are in neutral positions, a bow and a}

stern thrusters and a Cpp arc controlled SO as to keep desired heading angle

and velocities in longitudinal and lateral directions. _{This is based on the}

signal from two axes doppler log and gyro compass. If the signal from the

doppler log is based on current, the ship_{was controlled by the APACS to}

keep the relative positions to thecurrent. If the signal is based on sea bottom, the APACS realize the dynamic positioning system. The limit factor for this

niode is nonnally the_{power of a bow and a stern thrusters.}

(2) Heading control iii ode

If the position of rate wheel is in neutral, a bow and a stern thrnstrs are

controlled so as to keep the desired heading angle, _{wherever positions df}

joystick lever can be moved tto he ship sideways or crabbing posfliön. Fig.4

illustrates what the typical motions of crabbing _{image working the APACS.}

('3,) Spot turning mode

If the positions of joystick le'er is in neutral, _{the rate/course wheel can}

control a bow anda stern thrusters and a Cpp so as to keep the desired yaw-rate without transrating motions. Also, we can select the pivoting center

(midship, fore and aft ) by the push button. The image _{of spot turning motion}

is shown in Fig.5.

(4) Free maneuvering mode

This mode can realize combined motions of heading control mode and

spot turning mode. If the crew operate both the joystick lever _{and the rate}

whèel, the ship can move freely _{so as to keep the desired yaw-rate or}

APACS

(Operation unit

Console

Gyro compass AUIC) pilot Doiplcr loj' Wind sensor

Oflth)l on I of Order Response

Herading angle

TSpccd & Dircctioi

:Ya' rate

Figure 3. The organization of the APA CS

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PACS

Çoñtrol LiflIt )

l'o

Order

Rsponse _Codition Order _Rcspoìise Qrder _Response: Ordet _Response

Condition

Consolc iito pilot

Order T.

Respónse Conditi :oÑer. Order Response Condition; order Response Condition

Ruddr L. Bow thrustcr -Stern thruster -- r.::; LI 4 Respons'eT Condition

Joystick Lever

Race wheel

Joystick lever

Race wheel

2-123

Figure 4: The typical motions of crabbing Figure 5: The typical mo/ions of spot

mode turning mode

Joystick lever P F A s Rate wheel Joystick lever Rote wheel Joystick lever Race wheel

4. _{SYSTEM CONFIGURATIONS}

4.1 _{Construction of Hard Ware}

The APACS consists of a processor unit with a single board computer and

the other is a portable_{operation unit with the joystick and the rate/course}

wheels. Appearance of the portable operation unit and thò processor units

shown in Pho(o.3 and_Photo.4.

Photo 3:, _{The. òperation ¡nit}

P/zoto 4: _{The pro&ssor}

2-124

Operation Unit

An operation panel and its facÙltics arc illustrated in Fig.6. On the operating panel, [A] shows the two axes joystick lever, [B] shows the yaw-rate wheel, [C] shows a push button to select the pivoting center of spot turning, [D] shows lamps of selected control mode and [Eli hows the course wheel for heading angle. Also on this panel, there are two special buttons, one is the push button to cut off the revolution of Cpp from main engine which is selected at the time of emergency in tangling the wire cable to propeller shaft. Another button is to select the power up mode which can enlarge the range of Cpp's operation angle as same as conventional manual

pilot.

Processor Unit

The processor unit is constructed with a board computer, interface and external I/O terminal. This external I/O terminal can be used to the full scale experiments for scientisis. The board computer module is the MAC6000 system. Additional modules, A/D conversion module, RAM and ROM module complete the system shown in Fig.7.

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(E] Sci dial 01 heading angle

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Figure 6: The panel of operation unit

F-au

ici Itulì button rot scic1 hic puvul center [1)] Rarnp' ai selected cmtruI iwde

2-125.

(AI Joystick lever

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Figuie 7 The boad compute, (MMAG600q)

42

Soft Ware arid Algorithm

The developmeni pf the control algorithm was carried oui. by running the

simulation system _{as shown in section 5 The sequence ofmnanagerneni. of}

control mode is shòwn in Fig.8.. H ;.

In the zero speed control mode, the _{distum bance of long itudmnal velocity}

out of desired value is contiolled by a Cpp with PID contiol The

distur-bance of lateral velócity apd heading angle out of desired value

are.con-trolled by a bow. and a stern thrusters With PIE) côntrol

In the heading control mode, the disturbance of heading angle out of

desired value is controlled by a bow and astern thrusters with PII)_control.

At the simultaneously, translating maneuvering or crabbing maneuvering

witha joystick lever, a.Cpp, a.bow and stern thrusters _{are .contrQlled on the}

based of the thrust allocation table _{which was given by simulation i'esults}

beforehand. .

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Jovstic - -..

Ri) Rate dial

r

r:

(spcel control .(spot.twiung

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mode

Course set' dial operate

Sci course Power up

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t':'-i'1r Il On Çpp.Ruddcr.Thrusicr switching-Control stan -' (ìicacing control r \. mqde"-Sci movable. direction 2-1-27-r. lntctlock) :,,',

Çoursc act dial operate

Sci course J

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Set tnuva hic dircctiin

Figure & - ,Tth .qùn of cont ivi ,,zode., " r

r'

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In the spot turning mode, the disturbance of yaw-rate out of desired value

is controlled by a bow and a stern thiusteis willi PID control The selection

of pivoting center is reali7ed by the thrust alloLatlon o! side thrusters and a

Cpp. , '

r.

The free rnaneuyerng;.ipode is a ÇOIflbiflCd mOdeOf the spot turning bya rate' whèel and 'The transItiñg 'maneuvering by the joystick -lever.

r...

J.S Ncùtral J . S Neutral Select ni J .S +Neutral J .5 tNcutral

R.D Neûiral R. D + Neutral pIv,,t centct R.D 'Ncuual R. D * Neutral

t j rPower ofl J Opçraie Select ni POwe!UP. mude

The soft ware of APACS is constructed with the following functions.

Filiering of input signals.

Check and correct of extreme volúme.

Modified multi variate PID contro!.

4) Keeping of interlock _{control Conditions.}

Management of control mode:

Force allocation to several actuators. Smoothing of order signals.

Monitoring of control and con Lrò!lcd variables

The software of main _{contro! routine is loaded to ROM and cOntrol}

constai-it, cortroLlùni(atjon and force _{allocating table are loaded to RAM}

suitably on the ship..;

SIMULATIONS ANÚ FULL SCALE EXPERIMENTS

5.1 _{Simulation study 1:}

The simulation was enhanced and expanded as the algorithm design

progressed. The primary purpose of the simulation was in order_{to establish}

the system functionality and_{realistic testing of thesystem The}

matheinati-cal model of three principal equations in X, Y, N was developed for the

sunulations and coiiti.ol system _{design Foi this sunulation, the main}

hydrodynamics data were estimated from _{data. This mathematical model}

was based on the cross flow nodeF which _{can simu!aI.e the motions ofa ship}

during large drifting and tuning motions under conditions of slow speed [3114]

The. total simulation _{was carried out òn a desktop cinputér. Thè}

imula-toronnected with the APACS substitute via actual signal level. The block

diagram of the simulate _{system is shown th Fig 9 lt was arm med out in omdei}

to reduce the work time mequued _{to set on board The suriulation was then}

used to form the basis foi thesystem _{test facility, whcie the vessel, the ship's}

interfaces, and the environmental conditions weze sunulated in order to test functionally the complete system [5]

Tiiesimulation was also used to definé the effects of tuning _the

algo-rithms The maxunumn and_{mnmnunuin value and sensitivity of each cont.iol}

parameter was defined before full séale trial. Variatiônstajlúre modes of

ship's equipment_{were simulated in omder to test the lcedback system within}

the APACS and the design ability _{to withstand degraded sensor performance}

For the typical control model, Fig _{10 and Fig 11 show thesimulation results}

of spot turning and crabbing perfonnances of the APACS in terms of

trajectory in operating the model of "Ushio _Marmi"

These results of contiol sunulai.mons suggested that the control algorithm

and several gain _{constants were reasonably planned.}

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Figure ¡0: The simulation result of spot running

2129:

Longitudinal velocity Lateral velocity Coutse Yaw raic

Figume fheblocl...dzagiamn oJsimnulationsvs!ei,z

( j r._,lj j__ V j 1t j VI rt I V S IlL

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Vi 1 r

-

j V

Bow thruster 12 _{( deg )}

Stem thruster 14 5 (deg )

)V.,'V.:VI

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-...

'PP 1O(deg) V Sr lr .,jt311 rj Rudder OO(deg) I

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,,, ,,.:;. ;3.4deg/s')

Simulauon urne ,':...45 (Sec)

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Real-time S ¡ mu La to r L. Angle Dow thruster,

APACS Stem thruster

Ordcr.

APACS Longitudinal Cpp11dm

Laicral velocity

Operation Bux) _Coursc'.

-

f Control unit

Ya'rutc

Bow thruster ¡2.5 dcg

Stern thruster : -14.5 ( deg

Cpp _l.0(dcg) Rudder _{0.0 ( deg)} SLaii 2-130 ¡L End

Figure 11: The simulation result of crabbing .2 Full Scale Experiments

The APACS is currently operating the "Ushio Maru' in research works

on coastal seas around the southern_{pal-t of Hokkaido. Fig. 12 shows the}

result of spot turning performance _{using a bow and a stern thrusters and a}

Cpp. This figure shows the heading angle and the pitch angle of a bow and a

stern thrusters. We can see the spot turning performance is _{satisfied. But}

there are no trajectory, _{so that we can not check the pivoting point clearly.}

Fig. 13 shows crabbing _{performance using a bow thruster, a stern thruster}

and a Cpp. This figure shows time series of heading angle, pitch angle of a

bow and a stern thrusters and _{a Cpp. In this case, there are wide}

fluctuation

in a bow thruster. This result suggests that the control power of_{a stern}

thruster is not sufficient and the _{ship can not realize the complete crabbing.}

-- Next, we show the main function of the APACS which is hovering performance toward longitudinal and lateral velocities under ground or current. Fig.14 shows the hovering perfonnance under ground velocities of longitudinal and lateral. This figure is a hard copy of radar display and Fig.15 shows the current condition on this trial. This trial was carried out

about 30 minute under the wind of relative speed until _{speed 14 (nils) and}

the direction of port 15 (deg.) averagely. Also the _{cuiTent condition is about}

2 (mIs) and direction is port 20 (deg.). This result suggests that the APACS can be used satisfactorily for use the hovering perforinane to keep

longitudi-nal and lateral velocities and _{hcading.Lastjy, the view of bçrthing by the}

APACS is shown in Photo.5

Steady Iawral velocity Simulauon time

1.2 t kts

Yaw ,atc

Iimc(,cc.)

Actuai yaw raic Sc yaw raic

2-131

ConvoI vajuc

50 lOE) ¡50 lImcscc.)

flaw tcm

- -

Cpp - -. -" Rudder

(hruatct ûuuatcr asilc

700 800 900 Io Iimcjscc.)

Àciia )3W raic Sci aw gic

2-132

ConcI viJuc

thruIc: lhniiic _ingle

Stern - - - Cpp -. - _Ruddct

Figure 13: The results offuli_{scale trial (The lime hislo riesofcrabbing)}

.10

SOU 600 IX) 800 1000 ¡lOO

1141 s' .. -- _.t.Jk .i pÇ1.. '.'?. t L I rrE :!Ir5Mf. ..' :. .. u-.'.-.--,, -.. Coucs '

-.. HOLD NU,'RM 3 L17fl ISsII.Iis.,..j..a.ss.I. Current spccd (mis) & direction f -. .'s,

-.

2-133 1141 W 3OSEC ' -,...

.

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Figure 14: TIze residís of hovering operation (Southern pai-t of Hokkaido)

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Takei Island ti .1 .1 Trial arca J.... ..-... I p iO4MT 9.2uC 4. 2iNM 43. i_a I o p , I I

Figure 15: The current conditions o n the triai area (Southern pari ofHokkaido)

u Currcni

(Spccd & Jircciio,i

Disnc from ship Io rnaA(ii Direction (mm 1iip lo mark (t) GI. 407 G2 3

G3 45i

G4 498 Ship xcii f (iI'S I I lcding anglc

6. _{CONCLUSIONS ANI) DISCUSSIONS "}

During system development, scvcial _{ltcin'b haVe been bund in which}

iinprovementscan be made to enhance. performance and then it is hoped that these can be included in the neam lutuic Woik is also under-way to look at developing the algorithms for use to other similar vessels. The APACS has

now.been fully tested by (lic _{crew, and has proved its reliability and}

suitabil-ity for the harsh cnvuonincnt in which il will be _{icquucd to operate The}

performance of the APACS was lnvesugdted by simulating studies and full

scale trial. . .

The APAÇS: has the following features.,

The APACS can always keep ship's heading as the basic function

and automatically select each One of four.coñtrol modes by the deflections of joystick lever and rate wheel operations.

One is the course keeping control with crabbing motion by the jôystick lever.

One isthe yaw-rate control _{on the spot. turning by the rate wheel.}

4) .One is the combined motion withyaw-rate control by the rate whee1

and crabbing by the joystick lever.

(5) One is the nosÍ partieiiar'onc which _{can keep the ship's position by'}

the use of longitudinal and lateral veläcities due _{to doppler log}

while the joystick lever and mate wheel _{arc in null positions}

7. _{ACKNOWLEDGEMENTs}

The authors are grateful to the _{crew o! the 'Ushio Mani' for theu help in}

implementing the APACS and their support in the actual sea. We thank their

help!ul suggestions and _{encouragements fromDr. J. Takashina and other}

colleagues in Akishii'na Laboratoiy(Mitsui Zosen) Inc. _{We thanks also to}

Miss.N.Shinagawa for her typing.

Photo 5. The view of berthing,' by ¡lie APAcS

8. REFERENCES

[.1] H.Oda, K.Masùda and K.Kàrasuno, Development of portable

automatic control system for the ishencs tiaining ship ',29th SICE

90, Tokyo, 1990. (in Japanese)

H Oda, K Masuda and K Karasuno, A Portable Automatic

Control System Foi Ocean Researc.h Opeiation a Ship with a

Controllable Pitch Propeller, a Rudder and a Bow Thruster", 9th SCSS,USA, 1990.

K. Karasuno, J. Matsuno, T. Ito and K. Igarashi, "A new

mathematical model of hydiodynarnics forces and moment acting on a hull during maneuvering motion that occurs under conditions

of slow speed and large turns,2nd report",Journal of the Kansai Society of naval ai chitects, No 217, 1992 (in Japanese)

4] K Karasuno, K Igarashi," A physical - mathematical model of

hydrodynamics forces and moment acting on a hull during large drifting and turning motion under the conditions of slow speed", MARS[M 93, CANADA, 1993

[5] S Moriya and M Hirano, "Development of a Desktop Simulator

and its Application of Simulator Link", MARSEvI & ICSM 90, Tokyo, 1990.