利用幅值率饱和模型改进船舶运动控制

2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI:10.1109/CCTA.2018.8511451

Ole Nikolai Lyngstadaas, Tore Egil Saeterdal, M. Sørensen, M. Breivik

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引用次数: 3

摘要

传统上，船舶的运动控制概念并不关注于处理执行器的约束。本文通过建立和实现一个幅率饱和(MRS)模型，研究了一对非线性控制方案对性能的影响。利用海盆船模型试验验证了MRS模型的应用效果。性能指标用于评估性能方面的控制误差，能源效率和执行器磨损。

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Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model

Motion control concepts for ships have traditionally not focused on handling actuator constraints. This paper investigates the effects on performance of a pair of nonlinear control schemes by developing and implementing a magnitude-rate saturation (MRS) model. The effects of using the MRS model is tested in experiments with a model ship in an ocean basin. Performance metrics are used to evaluate performance in terms of control error, energy efficiency, and actuator wear and tear.

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2018 IEEE Conference on Control Technology and Applications (CCTA)

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