科技的發達促進了航海工業的拓展，對船舶的性能要求愈來愈高，而船舶動態定位(Dynamic Positioning)功能之需求亦日益殷切。動態定位系統發展至今，世界上已有超過一千艘的船舶安裝此系統。然而船舶的整體系統龐大，動態定位系統的加入會增大船體系統的複雜度，造成安裝上的困難與成本的增加，因此，本研究針對CAN Bus應用於船舶動態定位系統，做一初步的研究探討。CAN Bus為分散式的控制網路，差動式的網路連結方式可以簡化系統的接線複雜度，其具有傳輸距離長、抗雜訊能力佳等優點，極適合在船舶上使用。本研究在實現上使用全球衛星定位系統(GPS)與數位羅盤做為位置量測系統，三個數位訊號處理器作為控制核心，三組無刷直流馬達與螺槳作為推進器，透過CAN Bus，位置訊號與控制訊號得以在三個數位訊號處理器間相互傳輸，達到傳輸的即時性，並增加訊息可靠度，達成穩健的定位控制。最後，本論文將此系統安裝於一船模中進行實驗，驗證CAN Bus應用於動態定位系統之可行性。

The development of technology has significantly promoted the navigation industry. Therefore, dynamic positioning systems become necessary for high-performance ships. So far, in the world, there are more than 1,000 ships that have installed dynamic positioning systems. However, entire ships are considered as a huge system, and the presence of dynamic positioning systems will increase the system complexity, which will consequently increase the difficulty of installation and the cost. Hence, this research applies CAN Bus to dynamic positioning system for a preliminary realization of such a system. CAN Bus is a distributed control network that can simplify the wire connections. The advantages of CAN Bus include long transmission distance and decent ability of noise rejection, and hence it is suitable for use on ships. This research employs GPS and digital compass as the positioning sensors. Three digital signal processors (DSP) are used as the controllers. The thruster system is composed of three brushless DC motors with three propellers. Through CAN Bus, positioning signals and control signals are transmitted around every DSP, and thus the reliability is increased. The experiment is performed by applying the developed system on a ship model for realization and feasibility verification.

[1] A.B. Aalbers and U. Nienhuis, “Wave Direction Feed-Forward on Basis of Relative Motion Measurements to Improve Dynamic Positioning Performance,” Offshore Technology Conference, Paper 5445, pp.225-232, 1987.
[2] J. Blandin and P. Léon, “Network Architectures for Underwater System: Two Applications of the CAN Bus,” Ocean Conference Proceedings, vol.1, pp.503-507, 1998.
[3] Cyntec Co., Engineering Spec. of LDIP IPM 600V 30A.
[4] D.C. Donha and H.L. Brinati, “Design of Dynamic Semisubmersible Platform Positioning Control System,” Offshore Technology Conference, Paper 6257, pp.505-514, 1990.
[5] M.J. Grimble, R.J. Patton and D.A.Wise, “The Design of Dynamic Ship Positioning Control Systems Using Extended Kalman Filtering Technique,” Oceans, vol.11, pp.488-497, 1979.
[6] A. Girard and J.K. Hedrick, “Dynamic Positioning of Ships Using Nonlinear Dynamic Surface Control,” the 5th IFAC Symposium on Nonlinear Control Systems (NOLCOS), St. Petersburg, Russia, 2001.
[7] J.M. Giron-Sierra, S. Eeteban, J. Recas, E. Besada, J.M. De la Cruz, J.M. RiolaB. de Andres-Toro, “Distributed Electronic System for Monitoring and Control of a Fast Ship Physical Model,” Industrial Electronics Society, The 29th Annual Conference of the IEEE, vol.1, pp.620- 625, 2003.
[8] GlobalSat Technology Co., Product Specificaion RS232 GPS Receiver BE-355.
[9] Honeywell International Inc., HMR3000 Digital Compass Solution User’s Guide, 2005.
[10] M. Hamamatsu, “Non Linear DP Controller,” Dynamic positioning Conference, 2002.
[11] T.H. Lee, Y.S. Cao and Y.M. Lin, “Dynamic Positioning of Drilling Vessels with A Fuzzy Logic Controller,” International Journal of Systems Science, vol. 33, no. 12, pp. 979-993, 2002.
[12] K.P.W. Lindegaard, Acceleration Feedback in Dynamic Positioning, Department of Engineering Cybernetics, Norwegian University of Science and Technology, 2003.
[13] C.C. Liang and W.H. Cheng, “The Optimum Control of Thruster System for Dynamically Positioned Vessels,” Ocean Engineering vol. 31, pp.97–110, 2004.
[14] A.B. Mahfouz and H.W El-Tahan, “ On the Use of The Capability Polar Plots Program for Dynamic Positioning Systems for Marine Vessels, ” Ocean engineering, vol. 33, pp.1070-1089, 2006.
[15] Robert Bosch GmbH, CAN Protocol Specifications V 2.0 A&B, 1991-1992.
[16] S. Saelid, N. Jenssen and J. Balchen, “Design and Analysis of a Dynamic Positioning System Based on Kalman Filtering and Optimal Control,” IEEE Transactions on Automatic Control, vol. 28, pp.331-339, 1983.
[17] R.W. Sinnott, Virtues of the Haversine, Sky and Telescope, V.68:2, P.158, 1984.
[18] Texas Instrument, TMS320LF/ LF240xA DSP Controllers Reference Guide SPRS145K, 2000.
[19] Texas Instrument, Introduction to the Controller Area Network (CAN), 2002.
[20] E.A. Tannuri and H.M. Morishita,” Experimental and Numerical Evaluation of A Typical Dynamic Positioning System,” Applied Ocean Research, vol. 28, pp.133–146, 2006.
[21] Tecnadyne Inc., Model 300 Thruster Field And Depot Level Maintenance Manual.
[22] G.Q. Xia, X.C. Shi, M.G. Fu, H.G. Wang and X.Q. Bian, “Design of Dynamic Positioning Systems Using Hybrid CMAC-based PID Controller for A Ship,” IEEE International Conference on Mechatronics & Automation, Niagara Falls, 2005.
[23] H. Yoshida, T. Aoki , I. Yamamoto, S. Tsukioka, T. Hyakudome, S. Ishibashi, R. Sasamoto, Y. Nasuno and A. Ishikawa, “A Working AUV for Scientific Research,” Ocean Conference Proceedings, vol.2, pp.863- 868, 2004.
[24] 丁承衛、曹征宇，船舶網路平台系統，船舶(ship & baot)，第六期， pp.52-54, 2004.
[25] 安守中，GPS定位原理及應用，全華科技圖書股份有限公司，台北，2005.
[26] 旺陽電企業股份有限公司，TMS320LF2407A DSP模擬板(VP2407AEVM)技術手冊，2003.
[27] 林容益，TMS320F240X組合語言及C語言多功能控制應用，全華科技圖書股份有限公司，2005.
[28] 東元精電股份有限公司，直流無刷型錄.
[29] 袁贛南，王福友，王佳佳，艦船導航系統CAN總線網絡設計關鍵技術之研究，電腦量測與控制，第15卷，第6期， pp.750-753，2007.
[30] 張代兵，謝海斌，林龍信，沈林成，柔性長鰭仿生推進器測控系統的設計與實現，電腦量測與控制，第15卷，第2期， pp.205-207，2007.
[31] 趙志高、楊建民、王磊、程俊勇，動力定位系統發展狀況及研究，上海交通大學船舶與海洋工程國家重點實驗室，2003.
[32] 鄭景文，動態網路控制系統之時間延遲分析，國立交通大學電機與控制工程研究所，2006.
[33] http://www.imca-int.com/
[34] http://www.minmax.com.tw/chinese
[35] http://www.can-cia.org/can/protocol/