JEMS Maritime Sci. 2019; 7(4): 304-316 | DOI: 10.5505/jems.2019.83798

Strait of Ýstanbul Crossing Simulation of a VLCC Type Ship in Autopilot Mode

Ýsmail Bayezit¹, Rahman Bitirgen¹, Muhsin Hançer², Omer Kemal Kinaci³, Omer Kemal Kinaci^4
1Faculty of Aeronautics and Astronautics, Istanbul Technical University, Istanbul, Turkey
²Faculty of Aviation and Space Sciences
³Faculty of Naval Architecture and Ocean Engineering, Istanbul Technical University, Istanbul, Turkey
⁴Department of Naval Architecture and Marine Engineering, ITU TRNC, Famagusta, Northern Cyprus

According to Maritime Traffic Regulations for the Turkish Straits, “steering shall always be by hand” and “automatic steering devices shall never be used”. However, it is considered that recent technological boost in computer science and control engineering opened this regulation to discussion; as today, automatic steering devices are a lot more safer. In this study, navigation of a 320m long ship through the Strait of Ýstanbul in autopilot mode was simulated. Ship motion equations are nonlinear and have three degree-of-freedom. Rudder was controlled by PD controller. Maximum speed of the ship during navigation was 10 knots as per traffic regulations. It was assumed that there was no current in Strait of Ýstanbul during ship’s passage. Proportional and derivative gains were optimized by genetic algorithm. Simulation results show that the ship can safely voyage through the Strait of Ýstanbul in autopilot mode.

Keywords: KVLCC2, PID, Ship Maneuvering, Genetic Algorithm

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VLCC Tipi Bir Geminin Otopilot Modunda Ýstanbul Boðazý’ný Geçiþ Simülasyonu

Ýsmail Bayezit¹, Rahman Bitirgen¹, Muhsin Hançer², Omer Kemal Kinaci³, Omer Kemal Kinaci^4
1Ýstanbul Teknik Üniversitesi, Uçak ve Uzay Bilimleri Fakültesi
²Necmettin Erbakan Üniversitesi, Havacýlýk ve Uzay Bilimleri Fakültesi
³Ýstanbul Teknik Üniversitesi, Gemi Ýnþaatý ve Deniz Bilimleri Fakültesi
⁴Ýstanbul Teknik Üniversitesi Kuzey Kýbrýs Türk Cumhuriyeti Kampüsü

Dünyanýn en dar su yollarýndan biri olan Ýstanbul Boðazý’nda, Türk Boðazlarý Deniz Trafik Düzeni Tüzüðü uyarýnca, gemi geçiþi esnasýnda otopilot kullanýmý yasaktýr. Ancak son yýllarda bilgisayarlarýn günlük hayatýn her evresine dahil olmasý ve kontrol mühendisliðindeki kayda deðer ilerlemeler güvenli otopilotajýn önünü açmýþtýr. Bu çalýþmada 320m boyunda bir geminin otopilot modunda Ýstanbul Boðazý geçiþ simülasyonu gerçekleþtirilmiþtir. Gemi hareket denklemleri üç serbestlik dereceli ve nonlineer olarak ele alýnmýþ ve geminin dümeni oransal ve türevsel kontrolör kullanýlarak kontrol edilmiþtir. Azami hýz tüzüðe uygun olarak 10knot alýnmýþtýr. Boðaz’daki akýntý hesaplara dahil edilmemiþtir. Kontrolör kazançlarý genetik algoritma kullanýlarak optimize edilmiþtir. Gerçekleþtirilen simülasyonlar sonucunda geminin otopilot modunda Ýstanbul Boðazý’ný güvenli bir þekilde geçtiði gözlemlenmiþtir.

Anahtar Kelimeler: KVLCC2, oransal ve türevsel kontrolör, PD, manevra, genetik algoritma

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