Abstract
The purpose of this study is a design of an automatic peering system with a Controllable Pitch Propeller (CPP) in the case of the stormy weather. A velocity response of CPP has a delay time. Especially, this study verifies the ship's propelling force against the CPP angle and detects the delay time by analyzing the data of the propelling force. The CPP angle is controlled by Generalized Minimum Variance Control (GMVC). This study arranges the GMVC for the automatic mooring system. The proposed GMVC has wind and a tidal effect's terms. The wind effect's term is considered by the ship's drift with the wind. The predicted wind velocity is calculated by the AR model of wind change. The AR model of wind is used for the GMVC of the peering system.
