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1
Content available Prediction control systems in marine applications
Gierusz W., Miller A.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2020
|
Vol. 14, no. 2
361--366
EN
The paper presents one of the modern control methods used for steering of the ship motion. The different automatic systems used to navigate the vessels are described at the beginning. Next, prediction control methodology is presented and multidimensional MPC regulator applied to steering of the training ship is shown as a technical product. Tests results from the real-time experiments with the mentioned controller are presented at the end of the article.
2
Content available remote Stanowisko badawcze do pomiaru falowania i wiatru na jeziorze
Gierusz W., Rak A., Sikora P.
Zeszyty Naukowe Akademii Morskiej w Gdyni
|
2017
|
nr 98
57--63
PL
W artykule omówiono budowę stanowiska badawczego do pomiaru falowania i wiatru na jeziorze. Pomiar zakłóceń wiatrowych wykonywany jest dwoma anemometrami ultradźwiękowymi. Do pomiaru falowania wykorzystano czujnik pojemnościowy, zmieniający swoją pojemność w zależności od zanurzenia w wodzie. System mikroprocesorowy umieszczony w mierniku zapewnia pośredni pomiar pojemności czujnika falowania, wraz z odczytem parametrów wiatru z anemometru.
EN
The paper describes the measurement system of wind and waves on the lake. Wind speed, direction and waves height are measured in order to build simulation model of environmental disturbances of the ship model control process on the lake. Two ultrasonic anemometers were installed in the unit along with the originally designed system for measurement of the wave height. The first exemplary results recorded on the lake are presented at the end of the paper.
3
Content available remote Elektryczne pędniki wieńcowe
Gierusz W.
Zeszyty Naukowe Akademii Morskiej w Gdyni
|
2017
|
nr 98
50--56
PL
W pracy przedstawiono nowy rodzaj pędników okrętowych mogących mieć różnorodne zastosowania na jednostkach pływających: od sterów tunelowych poprzez pędniki manewrowe po napęd główny. Kolejno opisano historię powstania pędnika, jego odmiany i konstrukcję oraz przedstawiono cechy charakterystyczne takiego napędu, w zakończeniu pokazując przykładowe rozwiązania fabryczne.
EN
A new concept of the marine thrusters are presented. The history of the product is shown at the beginning. The construction of the thruster and the exploitation characteristics are described later. The commercial products offered by a few firm are presented in the final part of the paper with the short description of the first ship with the rim-driven thruster as a main propulsion system.
4
Content available Modelling the dynamics of ships with different propulsion systems for control purpose
Gierusz W.
Polish Maritime Research
|
2016
|
nr 1
31--36
EN
Two different propulsion systems are analyzed from point of view of future control applications. The traditional one consists of a pushing single screw propeller and a blade rudder. The other system is based on pod (pods): pulling or pushing ones. The equations describing forces and moments generated in both systems, are presented. Exemplary results of a simulation in comparison to the real-time experiments for two ships are also shown.
5
Nowoczesne metody sterowania ruchem statku handlowego
Lisowski J., Gierusz W., Łebkowski A.
Elektronika : konstrukcje, technologie, zastosowania
|
2014
|
Vol. 55, nr 8
9-11
PL
W pracy zaprezentowano wybrane systemy sterowania ruchem statku. Przedstawiono uwarunkowania sterowania statkiem przy małych prędkościach na akwenach ograniczonych. Opisano metody wyznaczania bezpiecznej trajektorii statku w sytuacji kolizyjnej. W końcowej części zaprezentowano metody weryfikacji systemów kierowania statkiem.
EN
The complex control systems destined to the sea-going ships are presented in the paper. The first one is used on the constrained areas like harbours and roads and is named precise steering system. Describes the method of determining a safe trajectory of the ship collision. In the final section presents a method of verification of the ship steering systems.
6
Content available The researching ship “Gdynia“
Gierusz W., Łebkowski A.
Polish Maritime Research
|
2012
|
S 1
11-18
EN
The paper presents the physical model of the sea-going ship. The wooden hull of this ship was obtained from Ship Design and Research Centre and next rebuilt and reconstructed for future tests of the different control systems in the real-time experiments. The paper describes the succeeding stages of the work, steering and driving devices installed on board, power electric diagrams and navigational equipment designated for ship. The range of the possible applications of the constructed vessel are presented at the end of the paper
7
Content available Reinforcement Learning in Discrete and Continuous Domains Applied to Ship Trajectory Generation
Rak A., Gierusz W.
Polish Maritime Research
|
2012
|
S 1
31-36
EN
This paper presents the application of the reinforcement learning algorithms to the task of autonomous determination of the ship trajectory during thein-harbour and harbour approaching manoeuvres. Authors used Markov decision processes formalism to build up the background of algorithm presentation. Two versions of RL algorithms were tested in the simulations: discrete (Q-learning) and continuous form (Least-Squares Policy Iteration). The results show that in both cases ship trajectory can be found. However discrete Q-learning algorithm suffered from many limitations (mainly curse of dimensionality) and practically is not applicable to the examined task. On the other hand, LSPI gave promising results. To be fully operational, proposed solution should be extended by taking into account ship heading and velocity and coupling with advanced multi-variable controller.
8
Content available Control system for trials on material ship model
Pomirski J., Rak A., Gierusz W.
Polish Maritime Research
|
2012
|
S 1
25-30
EN
The paper presents software environement for fast prototyping and verification of motion control systems for ship. The environement is prepared for isomorphic reduced ship model which is used for training and in research in a area of ship motion control. The control system is build using Matlab-Simulink-xPC package which simplifies and accellerates design and verification of new control algorithms. The systems was prepared also for Hardwarein- the-loop trials when a designed control system is tested inside a virtual environment instead of real actuators, disturbances, communication and measurement devices.
9
Content available remote Identyfikacja podsystemu układu sterowania silnika głównego statku
Gierusz W., Lisowski J., Sajnaj K.
Zeszyty Naukowe Akademii Morskiej w Gdyni
|
2009
|
nr 62
7-14
PL
W artykule przedstawiono metodykę identyfikacji podukładu sterowania, w którym sygnał wyjściowy badanego układu jest niedostępny. Praca dotyczy jednego z regulatorów prędkości obrotowej silnika głównego współczesnego statku handlowego. Cały system składał się z regulatora właściwego i układu kształtującego sygnał zadany, a proces identyfikacji odnosił się do ostatniego podukładu. W pracy zaproponowano metodę modelu odwrotnego do rekonstrukcji niedostępnego sygnału. Po odtworzeniu go określono model dynamiki układu kształtującego sygnał zadany metodą minimalizacji błędu predykcji.
EN
This paper addresses the problem of the identification of a controller in the subsystem related to the main engine of a merchant ship. Two degree controller is implemented and presented work concentrates on dynamics of a prefilter. Unfortunately output signal from this prefilter is inaccessible. The main idea is the using an inverted model of the remaining control system dynamics to reconstruction mentioned output signal. Next the identification of the prefilter dynamics is performed.
10
Content available The H2 and Robust Hinf Regulators Applied to Multivariable Ship Steering
Gierusz W.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2009
|
Vol. 3, no. 4
431--440
EN
The main goal of this task was a calculation of the two multivariable regulators for precise steering of a real, floating, training ship. The first one minimized the H2 norm of the closed-loop system. The second one was related to the Hinf norm. The robust control approach was applied in this controller with the usage of the structured singular value concept. Both controllers are described in the first part of the paper. Details of the training vessel and its simulation model then are presented. The state model of the control object obtained via identification process is described in the next section. This model with matrices weighting functions was the base for creation of ’the augmented state model’ for the open-loop system. The calculation results of the multivariable controllers is also shown in this section. Several simulations were performed in order to verify the control quality of both regulators. Exemplary results are presented at the end of this paper together with final remarks.
11
Content available remote Intelligent Ship Control System
Lebkowski A., Smierzchalski R., Gierusz W., Dziedzicki K.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2008
|
Vol. 2, no. 1
63--68
EN
The article present intelligent control system of ship motion in situations threatening with collision. The goal of the presented system is to support the navigator in decision making, with possible full replacement of his work in the future. In this article, it was introduced system joins work of three computer techniques, evolutionary algorithms to marking of optimum path of passages, fuzzy logic to control ship after set path of passage and multivariable robust control to precise movement of the vessel with very small velocity and any drift angle. Introduced system has to assure safe trip of ship in each navigational conditions with regard of weather conditions and met navigational objects of static or dynamic nature. For testing of the operation the system, the marine environment simulator was used to present navigational situations in a 3D graphical mode at the poor hydro- and meteorological conditions.
12
Content available remote The steering of the ship motion: a Μ-synthesis approach
Gierusz W.
Archives of Control Sciences
|
2006
|
Vol. 16, no. 1
87-109
EN
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.
13
Content available remote Multivariable robust control applied to steeting of three ship's velocities
Gierusz W.
Archives of Control Sciences
|
2003
|
Vol. 13, no. 4
459-492
EN
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.
14
Content available remote Modelowanie niepewności w układach typu ROBUST
Gierusz W.
Zeszyty Naukowe Akademii Morskiej w Gdyni
|
2002
|
nr 47
19--25
PL
W pierwszej części artykułu przedstawiono podstawowe narzędzie, służące do wprowadzenia niepewności i niedokładności modelowania obiektów rzeczywistych do modeli matematycznych. Opisano kolejno dolną i górną liniową transformację ułamkową. Następnie przedstawiono jeden ze sposobów uwzględnienia najbardziej ogólnych niepewności, czyli niepewności niestrukturalnych. Podano podstawowe zależności matematyczne oraz prosty przykład.
EN
The specjal matrix function - the Linear Fractional Transformation (LFT) is described in the first part of the paper. Both types of LFT - lower and upper ones are defined. This tool is used for introduction into the object model one of the types of uncertainties - the most generał one - „the unstructured uncertainty'". The simple example is presented at the end of the paper.
15
Content available remote Filtering and reconstruction of course parameters of the shiphandling training boat "Kołobrzeg"
Gierusz W.
Polish Maritime Research
|
2000
|
Vol. 7, nr 2
26-29
EN
The shiphandling training boat "Kołobrzeg" used during courses for navigators is presented of the mathematical model of dynamic and kinematic behaviour of the ferry ship [1] into that of the training boat. Also, a method is described of ship course filtration and reconstruction of turn angular velocity by mean of the Extended Kalman's Filter.
16
Content available remote Open--loop control of a twin--screw ferry
Gierusz W.
Polish Maritime Research
|
1999
|
nr 3
17-22
EN
In the paper the ferry and its simulation model are described and identification of its inverse steady--state characteristics is presented. Next results of the open--loop steering of the passenger ferry "Stena Germanica" in longitudal and lateral directions and turning in a place are given and compared with results of real--ship trials and model ship experiments.
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