Robust Yaw/roll Control of High-Speed Containerships

This thesis proposes a controller design for high-speed containerships with aggravated yaw/roll characteristics. With the trend of higher superstructures, low density cargo, and the deck loading of containerships, major problems have arisen in regard to roll motion stabilization. To minimize the yaw/roll coupling effect on the course-keeping mode, the multivariable (MV) approach was applied. The objective was to employ the minimum number of new sensors and actuators to obtain reasonable operating results. Hence, rudder-only control and rudder/fin control were introduced. Using comprehensive models that modeled yaw, sway, surge, and roll; and all significant coupling modes, a new performance index was established and an effective controller was designed to obtain the maximum results from rudder and fin input signals. This was a true first, for other researchers having ignored certain dynamics, were designing autopilots which were issuing inherently conflicting control signals. This thesis work demonstrated the effectiveness of each manner of control, as well as, the MV design approach itself.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2014

Author dc:creator

• Magerko, John Alexander, Jr

• Engineering, System Science

Identifier

(UMI)AAI8823189

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/70152