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표제지 2

목차 5

Abstract 11

1. 서론 12

1.1. 연구 배경 12

1.2. 기존 연구 사례 12

1.3. 연구 목표 14

2. 자동 접안 시스템 구성 15

2.1. 하드웨어 시스템 15

2.2. 소프트웨어 시스템 17

2.3. 인공 항만 구성 18

2.4. 자동 접안 단계 20

3. 무인 수상선의 동역학 모델링 22

3.1. 접안 동역학 모델 25

3.1.1. 횡방향 속도 모델 25

3.1.2. Nomoto의 조향 모델 25

3.2. 시스템 식별 26

4. 경로 생성 및 추종 32

5. 제어기 구성 37

5.1. 외란 관측기 37

5.2. 제어기 설계 39

6. 자동 접안 시험 41

6.1. 시험 검증 45

6.1.1. 입항 단계 45

6.1.2. 피벗, 접안 단계 47

7. 결론 53

참고문헌 55

표목차 7

Table 2.1. Principal dimensions of the unmanned surface vehicle (USV) 16

Table 3.1. Estimated dynamic model parameters 30

Table 6.1. Automatic berthing test scenarios 45

Table 6.2. Results of path-following performance obtained from the tests 47

그림목차 8

Figure 2.1. Equipment and sensor configuration of the unmanned surface... 16

Figure 2.2. Schematic of the hardware system 17

Figure 2.3. Robotic Operating System (ROS2) network schematic of the... 18

Figure 2.4. Naval Architecture and Ocean Engineering basin at Changwon... 19

Figure 2.5. Wind tunnel 19

Figure 2.6. Comprehensive layout of the artificial port indicating the top,... 20

Figure 2.7. Phases of the automatic berthing configuration:(a) approach,... 21

Figure 3.1. Coordinate systems of the unmanned surface vehicle (USV) and... 22

Figure 3.2. Curve fitting of force versus the pulse width modulation... 27

Figure 3.3. Data from the waypoint tracking test results of the unmanned... 28

Figure 3.4. Data from the lateral movement test results of the unmanned... 28

Figure 3.5. Sway test result for dynamic model verification: (a) test and... 31

Figure 4.1. Examples of Dubins path: (a) SRL type, (b) RSR type 32

Figure 4.2. Generation of vector fields in the path segment areas 33

Figure 4.3. Composition of the vector field according to path segments: (a)... 34

Figure 4.4. Generation of path simulation for Busan Port 35

Figure 4.5. Path generation and vector field creation in the artificial port 36

Figure 5.1. Disturbance observer-based control architecture for the... 37

Figure 6.1. Desired state conditions of the unmanned surface vehicle... 42

Figure 6.2. Test results of the automatic berthing system: (a) Trajectory.... 43

Figure 6.3. Snapshot of the automatic berthing system test 44

Figure 6.4. Path-following errors observed in the tests 46

Figure 6.5. Trajectories of the unmanned surface vehicle (USV) in the... 46

Figure 6.6. Data from scenario 1 (test 2) during the pivoting and berthing... 48

Figure 6.7. Data from scenario 2 (test 4) during the pivoting and berthing... 49

Figure 6.8. Data from scenario 3 (test 6) during the pivoting and berthing... 50

Figure 6.9. Comparison of integral time absolute error (ITAE) performance... 52

Figure 6.10. Elapsed time for berthing at each phase in the tests 52

초록보기

 The design of automatic berthing and unberthing controllers does not often consider the effect of environmental disturbances on their performance. In this study, we propose a system capable of stable automatic berthing even in the presence of environmental disturbances. An automatic berthing system is designed for the guidance and control of a model ship equipped with twin-axle propellers and bow and stern thrusters. The process is divided into approach, pivoting, and berthing phases for efficiency. During the approach phase, a path is generated using the Dubins path technique, and a vector field is introduced to calculate the command heading angle to be followed by the unmanned surface vehicle. In the pivoting and berthing phases, a disturbance observer (DOB) is applied to perform the pivoting and crabbing motions robustly even under environmental disturbances. The designed system was validated using basin tests under wind loads. The results confirmed that the control system with the DOB exhibited a more robust performance against disturbances compared with the system using only the proportional derivative control.

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