Identyfikatory
Warianty tytułu
Nonlinear controller design of ship autopilot
Języki publikacji
Abstrakty
Projektowanie autopilota statku nie jest zadaniem łatwym z powodu dużej nieliniowości dynamik statku i różnych działających zakłóceń. Głównym celem autora niniejszego artykułu jest zaprojektowanie regulatora dla autopilota statku na podstawie metody sterowania ślizgowego. Wyniki badań symulacyjnych, uzyskane w warunkach działających zakłóceń falowych, pokazują, że zaproponowany regulator jest lepszej jakości w porównaniu z regulatorem klasycznym.
Designing of ship autopilot is not easy subject because of high nonlinearity of ship dynamics and various acting disturbances. The main goal of the work is to design a proper and efficient controller for ship autopilot based on sliding mode control method. Simulation results in the rough wave condition show the better performance of the proposed controller in comparison with the classical controller.
Czasopismo
Rocznik
Tom
Strony
223--233
Opis fizyczny
Bibliogr. 12 poz., rys., tab.
Twórcy
autor
- Akademia Morska w Gdyni
Bibliografia
- 1. Fang M.-C., Luo J.-H., The nonlinear hydrodynamik model for simulating a ship steering in waves with autopilot system, Ocean Engineering, 2005, vol. 32, no. 11–12, s. 1486–1502.
- 2. Fossen T.I., Guidance and Control of Ocean Vehicles, John Wiley & Sons Ltd., England 1994.
- 3. Healey A.J., Lienard D., Multivariable sliding mode control for autonomous diving and steering of unamanned underwater vehicles, IEEE Journal of Oceanic Engineering, 1993, vol. 18, no. 3, s. 327–339.
- 4. Healey A.J., Marco D.B., Slow speed flight control of autonomous underwater vehicles: experimental results with NPS AUV II, Proc. of the second international offshore and polar engineering conference, San Francisco 1992, s. 523–532.
- 5. Lindegaard K.-P., Acceleration Feedback in Dynamic Positioning, PhD thesis, Norwegian Univ. Science & Technology, Dept. Eng. Cybernetics, Trondheim, Norway 2003.
- 6. Lindegaard K.-P., Fossen T.I., Fuel efficient rudder and propeller control allocation for marine craft: experiments with model ship, IEEE Transactions on Control Systems Technology, 2002, vol. 11, no. 6, s. 850–862.
- 7. McGookin E.W., Murray-Smith D.J., Li Y., Fossen T.I., Ship steering control system optimisation using genetic algorithms, Control Engineering Practice, 2000, vol. 8, no. 4, s. 429–443.
- 8. Skjetne R., The maneuvering Problem, PhD thesis, Norwegian Univ. Science & Technology, Dept. Eng. Cybernetics, Trondheim, Norway 2005.
- 9. Skjetne R., Smogeli O., Fossen T.I., Modeling, identification, and adaptive maneuvering of Cybership II: A complete design with experiments, Proc. IFAC Conf. Appl. Marine Systems, CAMS 2004, IFAC, Ancona, Italy 2004.
- 10. Slotine J.J.E, Li W., Applied Nonlinear Control, Prentice Hall, New Jersey 1991.
- 11. Sveen D.A., Robust and adaptive tracking control for synchronization with an ROV: practical implementation on CyberShip II, master thesis, Norwegian University of Science and Technology, Trondheim, Norway 2003.
- 12. Tomera M., Śmierzchalski R., Sliding Controller for Ship Course Steering, Proceedings of the 7th IFAC Conference on Manouvering and Control of Marine Craft, MCMC, Lisbon, Portugal 2006.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BWM6-0003-0041