Wyniki wyszukiwania - BazTech

Ograniczanie wyników

2 Archives of Control Sciences

2 Gierusz W.

Znaleziono wyników: 2

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: real-time steering

Sortuj według:

Ogranicz wyniki do:

The steering of the ship motion: a Μ-synthesis approach

Gierusz W.

Archives of Control Sciences

2006

Vol. 16, no. 1

87-109

The main goal of this task was synthesis of the multivariable regulator for precise steering of the real, training ship. However such object is strongly nonlinear and its characteristics depends on current work conditions. Therefore one of possible ways to build a proper ship's controller can be the robust control theory approach. It enables the introduction of the effects of the modeling errors, unknown nonlinearities, unawareness of the particular object phenomena into the controller synthesis process. First part of the paper describes the meaning of the weighting functions in the system, the conditions for computing of the H∞ controller and the parametric and nonparametric uncertainties. The next part presents the requirements which should be fulfilled by regulator to the robust one and it describes the way how to calculate the multivariable robust controller via D-K iteration. In the last part of the paper exemplary results of the steering process from simulation and the real-time illustrates the control quality of the obtained closed-loop system.

Multivariable robust control applied to steeting of three ship's velocities

Gierusz W.

Archives of Control Sciences

2003

Vol. 13, no. 4

459-492

The main goal of this task was the synthesis of the regulator for precise steering of the real, training ship. One of possible ways to build a proper ship's controller can be the robust control theory approach. First part of the paper describes successively: the shiphandling training boat "Blue Lady", nonlinear simulation model of the vessel and the MIMO state ship model, identified for robust regulator synthesis after experiments on the presented simulation model. Second part of the paper presents: the way to calculate the multivariable controller via D-K iteration, final regulator and exemplary results of the real-time steering for verification of obtained closed-loop system.