Model predictive control algorithm verification with the use of real time xpc target platform

• Autorzy: Miller A. , Rybczak M.
• Języki publikacji: EN

Abstrakty

EN

There is a need to check the effects of automatic regulation system, before it is used in real conditions when sailing on Silm Lake. Simulink Real-Time platform, which is a component of Matlab software, is designed for simulation of automatic control systems working on the basis of real objects. In the simulations nonlinear mathematical model of real floating training ship is used as a control object. The model contains modeled filters used for longitudinal, transversal and rotational speeds on the basis of position change and transducers for thrusters and steering gear. Above mentioned simulations are conducted in real time, because it allows for taking into account time of the signals propagation and digital signal processing effects. This article presents the real time lab station system configuration. Simulation results for Model Predictve Control system are described and presented.

Słowa kluczowe

EN

Simulink Real-Time platform; real-time simulations; model predictive control

• Wydawca: Wydawnictwo Uniwersytetu Morskiego w Gdyni
• Czasopismo: Zeszyty Naukowe Akademii Morskiej w Gdyni
• Rocznik: 2014
• Tom: nr 84
• Strony: 73--84
• Opis fizyczny: Bibliogr. 8 poz., rys., tab.

Twórcy

autor

Miller A.

• Gdynia Maritime University Poland

autor

Rybczak M.

• Gdynia Maritime University Poland

Bibliografia

• [1] Rybczak M., Lab station for verifying ship control algorithm with the use of real time platform xPC target. Gdynia, Vol. 78, 2013, p. 97–109 (in Polish).
• [2] Centrum Manewrowania Fundacji Bezpieczeństwa Żeglugi i Ochrony Środowiska w Iławie Kamionce http://www.ilawashiphandling.com.pl/training.html.
• [3] Gierusz W., Synthesis of multivariable systems of precise ship motion control with the aid of selected resistant system design methods, Akademia Morska w Gdyni, Gdynia 2005 (in Polish).
• [4] Rybczak M., Wykorzystanie języka VRML do modelowania środowiska symulacyjnego ruchu modeli statków, Gdynia 2006 (in Polish).
• [5] Ułasiewicz J., Systemy czasu rzeczywistego - QNX6 Neutrino, Wyd. BTC, 2007.
• [6] Pomirski J., Rak A., Gierusz W., Control system for trials on material ship model, Polish Maritime Research, Special Issue SI(74), 2012, Vol. 19, p. 25–30.
• [7] Camacho E.F., Bordons C., Model Predictive Control, Springer, Great Britain, 1999.
• [8] Oh S.R., Sun J., Path following of underactuated marine surface vessels using line-ofsight based model predictive control, Ocean Engineering 2010, 37, p. 289–295.