Development of autonomous system for scaled ship model for seakeeping tests

Embedded System Design for Autonomous Unmanned Surface Vehicles in Laboratory Environment

Abstract: Sea-keeping, maneuvering, and motion tests of surface vehicle/ship model need self-propelled scale model which can perform different maneuvers. The present work describes the design implementation and testing of embedded system of an autonomous system for unmanned surface vehicles (USVs)/ship model in the laboratory environment. This is a first-time national development test in the wave basin has demonstrated full-free running self-controlled model in a disturbance environment. The central unit of the system is an embedded controller, compact reconfigurable input–output (cRIO) which features a field-programmable gate array (FPGA) and a processor running Linux-based real-time operating system. It performs the main propulsion control, rudder control data logging and telemetry. The peripherals are interfaced with main controller through multifunction input–output module. The RS-232 communication is used to interface the MRU sensor with main controller. LabVIEW is used as programming tool to develop a program to control the peripherals connected to the main controller and data acquisition over a wireless link using Wi-Fi. A graphical user interface is developed to send control commands and visualize the 4-degree of motion at base station in real time.

Page No. 29 - 42: Wi-Fi Enabled Autonomous Ship Model Tests For Ship Motion Dynamics And Seakeeping Assessment

Abstract: Captive model testing for ship motions, sea-keeping and dynamic effects has been always a challenge due to the large amount of channels of data, the need for continuous data communication for effect feedback control, and in the case of extended studies relating to fleets, the methodology for group fleet control. For the first time a solution is offered by designing a free self-propulsion, self, on-board controlled, surface ship model. The design incorporates Wi-Fi enabled robust communication and control and protocols for data storage, exchange, multiple device control and communication to fleet sister surface ships for fleet control. The design is described in this paper with details of implementation on a demonstration oceanographic research vessel. It illustrates the excellent communication between shore station computer and the on-board system on a wire-free model with robust control and exhibiting all the motion behavior and dynamic effects.

Steering model identification and control design of autonomous ship: a complete experimental study

Abstract: Steering ship models are important for the study of autonomous ship manoeuverability and design of ship motion control system. It is always a difficult task to find the mathematical model by first ...

Guidance and Control of Ocean Vehicles

Abstract: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High--Speed Craft Appendices Bibliography Index

The NDRE-AUV flight control system

Abstract: The flight control system of an autonomous underwater vehicle (AUV) developed at the Norwegian Defence Research Establishment (NDRE) is presented. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems, and three autopilots are designed for steering, diving, and speed control. The design of the separate controllers is based on PID techniques. Results from extensive sea testing show robust performance and stability for the autopilot. >

An autonomous scale ship model for towing tank testing

Abstract: This paper presents the work done for developing a self-propelled scale ship model for towing tank testing, with the main characteristic of not having any material link to a towing device to carry out the tests. This model has been fully instrumented in order to acquire all the significant raw data, process them onboard and communicate with an inshore station, and all this for both seakeeping and resistance tests. In order to illustrate the applicability and advantages of the proposed model, some results obtained by its application on a towing tank test campaign, aimed at developing a parametric roll detection system, are also presented.