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Simulation and Control of Intelligent Berthing of Vessels in Different Sea Conditions

Speed, Yasaman | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58695 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed
  7. Abstract:
  8. Ship berthing is one of the most critical maneuvers in maritime operations. During berthing, the ship’s speed and water currents decrease, making it challenging to control the vessel at low speeds, especially in the presence of disturbances such as wind. Therefore, advanced techniques are required for effective ship berthing and maneuvering, one of which is the intelligent automation of the berthing process. The objective of this research is to develop an appropriate modeling method and create software capable of performing intelligent ship berthing. This software serves two main purposes: 1- For training mariners to control and berth the vessel easily under challenging conditions, such as storms or heavy port traffic. 2- It allows an unmanned vessel to autonomously berth alongside the dock without any external assistance. In this thesis, a control method for the automatic berthing of the KVLCC2 vessel using transverse thrusters is proposed. The primary goal is to design and implement a control system that adjusts the thruster speed to ensure the vessel reaches the desired position with high accuracy while minimizing angular deviations. Initially, the dynamic model of the vessel’s berthing process was studied, and the governing equations of motion were derived. Subsequently, a previously developed simulation model for vessel maneuvering was enhanced in the MATLAB/Simulink environment to include berthing capabilities. This model comprises subsystems for Actuator, Kinetics, and Kinematics. In the upgraded version, the system inputs include the speed of the transverse thrusters and their positions. To control the vessel’s motion, a PID controller is employed, with its parameters tuned to provide adequate transverse force for moving toward target points while correcting any angular deviations by adjusting the thruster direction and speed. To evaluate the system’s performance, simulations under various operational conditions will be conducted to assess the proposed method’s effectiveness in improving berthing accuracy and time. It is expected that the results of this research will demonstrate that using a PID controller for the automatic adjustment of transverse thrusters can enhance the berthing performance of the vessel. This method can be applied to ship motion control systems and automated berthing in ports
  9. Keywords:
  10. Simulation ; Proportional-Integral-Derivative (PID)Controller ; Ship Control ; Intelligent Berthing ; Berthing Control

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