This paper proposes a practical algorithm and its implementation of automatic berthing in wind disturbances environments. Berthing operation is one of the most complex tasks for seafarers. Automation of the highly burdensome berthing maneuver can be used to assist seafarers. In this study, we analyze the effect of wind disturbance on path following and propose a new path following control algorithm using a 2-DoF controller that introduces a feed-forward control. We also propose a method to reduce path deviation by introducing a runway in path planning. The effectiveness of the proposed method is verified by numerical simulations and shipboard tests using an experimental ship, and the proposed method shows higher performance under wind disturbance than the previous methods. The algorithm verified in this study is implemented as a PLC system, AutoBerth PLC. A PLC is an industrial computer, stable in operation. Using the AutoBerth PLC, we conducted an experiment of automatic berthing by an actual ship and confirmed that the system can be controlled faster and more stable than when controlled by a laptop. To realize a practical system, an alert function for the ODD, an alert function for fallback response regarding self-diagnosis of PLCs and communication monitoring functions were implemented as required functions in a maritime autonomous surface ship (MASS), and these functions were verified on the experimental ship.

本文提出了一种实用的风干扰环境下自动靠泊算法及其实现。靠泊作业是海员最复杂的任务之一。高度繁重的靠泊操作的自动化可用于协助海员。在这项研究中，我们分析了风扰动对路径跟踪的影响，并提出了一种新的路径跟踪控制算法，该算法使用引入前馈控制的 2-DoF 控制器。我们还提出了一种通过在路径规划中引入跑道来减少路径偏差的方法。通过数值模拟和实验船船载试验验证了所提方法的有效性，与以往方法相比，所提方法在风扰动下表现出更高的性能。本研究中验证的算法被实现为 PLC 系统，AutoBerth PLC。PLC是一台工控机，运行稳定。使用 AutoBerth PLC，我们在实船上进行了自动靠泊实验，并确认该系统可以比通过笔记本电脑控制时更快、更稳定地进行控制。为了实现一个实用的系统，在海上自主水面舰艇（MASS）中作为所需功能实现了 ODD 的警报功能、关于 PLC 自诊断的回退响应警报功能和通信监控功能，并验证了这些功能实验船。