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- Källström, Claes, et al.
(författare)
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Adaptive Autopilots for Large Tankers
- 1978
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Ingår i: 7th Triennial World Congress of the IFAC : A Link Between Science and Applications of Automatic Control, Helsinki, Finland, 12-16 June - A Link Between Science and Applications of Automatic Control, Helsinki, Finland, 12-16 June. - 1474-6670. ; 11:1, s. 477-484
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Konferensbidrag (refereegranskat)abstract
- The adaptive autopilots are based on velocity scheduling, a self-tuning regulator for steady state course keeping, a high gain turning regulator with variable structure, and a Kalman filter. Results from simulations and full-scale experiments on three different tankers are presented. The autopilots are shown to work excellently under different loads, speed and weather conditions.
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- Källström, Claes, et al.
(författare)
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Experiences of System Identification Applied to Ship Steering
- 1981
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Ingår i: Automatica. - : Elsevier BV. - 0005-1098. ; 17:1, s. 187-198
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Tidskriftsartikel (refereegranskat)abstract
- Different system identification methods have been applied to determine ship steering dynamics from full-scale experiments. The techniques used include output error, maximum likelihood and more general prediction error methods. Different model structures have been investigated ranging from input-output models in difference equation form to the equations of motion in their natural form. Effects of disturbances, errors and dynamics in sensors and actuators have been considered. Programs for interactive system identification have been used extensively. The experiments have been performed both under open loop and closed loop conditions. Both linear and nonlinear models have been considered. The paper summarizes the experiences obtained from applying system identification methods to many different ships. The results have been applied both to investigate steering properties and to design autopilots for ship steering. Insight into ship steering dynamics and identification methodology has been obtained.
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| 9. |
- Källström, Claes G., et al.
(författare)
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Adaptive Autopilots for Tankers
- 1979
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Ingår i: Automatica. - : Elsevier BV. - 0005-1098. ; 15:3, s. 241-254
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Tidskriftsartikel (refereegranskat)abstract
- Two adaptive autopilots for ships are designed, The autopilots are based on velocity scheduling, a self-tuning regulator for steady state course keeping, a high gain turning regulator with variable structure and a Kalman filter.Methods for design of the autopilots are discussed. Results from simulations and full-scale experiments with three different tankers are presented. The autopilots are shown to work excellently under different load, speed, and weather conditions.
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