Abstract
Abstract Real-time dynamics analysis and control of ship's seaborne supply (SSS) operations under complex sea conditions is a research hotspot in the fields of marine and ship engineering, mechanics and control engineering. In this paper, the discrete time transfer matrix method of multibody system is proposed for dynamics modeling and analysis of a SSS system. This method solves the dynamics of system easily only by the low-order transfer equations, instead of the usual high-order global differential or differential-algebra equations of system; therefore, its computational efficiency is enhanced essentially. Then for improving the positioning precision and security of supply operations, a hybrid control system which is composed of three PD controllers and a fuzzy controller is designed to compensate the ship’s relative motion caused by sea waves. The formulas, dynamics algorithm and control design details are all presented. Some illustrative simulations show the proposed modeling method and control strategy are accurate and feasible, with low computational complexity and satisfying control performance.
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