A New Method of Thruster Control in Positioning of Ships Based on Power Control

Sørensen, Asgeir J.; Adnanes, A.K.; Fossen, Thor I.; Strand, Jann Peter

doi:10.1016/s1474-6670(17)46514-1

Cited by 25 publications

(24 citation statements)

References 3 publications

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“…For details, see [7] and [4]. In shaft speed control, shaft speed feedback n from the thruster and the desired shaft speed n d calculated from the desired thrust T d is used to set the commanded motor torque Q cn by for example a PID algorithm f (n−n d ) (11).…”

Section: A Conventional Thruster Controlmentioning

confidence: 99%

“…Fig. 3 shows a block diagram of the resulting controller, where also a torque limiting function has been included to avoid commanding excessive motor power or torque [7].…”

Section: Anti-spin Controlmentioning

confidence: 99%

“…The local thruster controller used in this work is a combined power/torque control scheme. Power and torque thruster control in marine propulsion systems were first introduced by [7], and recently refined to the combined power/torque control scheme by [4].…”

Section: Introductionmentioning

confidence: 99%

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Anti-spin control for marine propulsion systems

Smogeli

Hansen

Serensen³

et al. 2004

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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Abstract-An anti-spin controller for marine propulsion systems in rough seas is developed. From measurements of motor torque and propeller shaft speed, an observer providing an accurate estimate of the propeller load torque is used to calculate an estimate of the torque loss. A monitoring algorithm utilizing the estimated torque loss detects ventilation incidents, and activates the anti-spin control action. When a ventilation situation is detected, the anti-spin control action will reduce the propeller shaft speed to some optimal value, using a combined power/torque controller. The ultimate goal is to minimize the effect of ventilation, and hence increase the thrust production, limit the transients in the power system and reduce the mechanical wear and tear of the propulsion system components. Simulations are provided to validate the performance of the control scheme.

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Section: A Conventional Thruster Controlmentioning

confidence: 99%

“…Fig. 3 shows a block diagram of the resulting controller, where also a torque limiting function has been included to avoid commanding excessive motor power or torque [7].…”

Section: Anti-spin Controlmentioning

confidence: 99%

See 1 more Smart Citation

Anti-spin control for marine propulsion systems

Smogeli

Hansen

Serensen³

et al. 2004

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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“…Thus adaptive optimal control allocation is achieved asymptotically for the closed loop under the PE condition. (Sørensen et al, 1997) and (Fossen and Blanke, 2000) for details). But in this example we limit our study to thruster loss caused by Thruster-Hull interaction.…”

Section: Is Ugas With Respect To the System (12)-(18)mentioning

confidence: 99%

Optimizing Adaptive Control Allocation With Actuator Dynamics

Tjønnås¹,

Johansen²

2008

MIC

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In this work we address the optimizing control allocation problem for an over-actuated nonlinear timevarying system with actuator dynamic where parameters affine in the actuator and effector model may be assumed unknown. Instead of optimizing the control allocation at each time instant, a dynamic approach is considered by constructing actuator reference update-laws that represent an asymptotically optimal allocation search. By using Lyapunov analysis for cascaded set-stable systems, uniform global/local asymptotic stability is guaranteed for the optimal equilibrium sets described by the system, the control allocation update-law and the adaptive update-law, if some persistence of exitation condition holds. Simulations of a scaled-model ship, manoeuvred at low-speed, demonstrate the performance of the proposed allocation scheme. *

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“…The scale model-ship is moved while experiencing static disturbances, caused by wind and current, and propellers trust losses. The propeller losses can be due to: Axial Water In ow, Cross Coupling Drag, Thruster-Hull and Thruster-Thruster Interaction (see (Sørensen et al 1997) and (Fossen and Blanke 2000) for details). But in this example we limit our study to thruster loss caused by Thruster-Hull interaction.…”

Section: Examplementioning

confidence: 99%

On Optimizing Nonlinear Adaptive Control Allocation With Actuator Dynamics

Tjønnås

Johansen

2007

IFAC Proceedings Volumes

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In this work we address the optimizing control allocation problem for a nonlinear over-actuated time-varying system where parameters af ne in the dynamic actuator and effector model may be assumed unknown. In-stead of nding the optimal control allocation at each time instant, a dynamic approach is considered by constructing update-laws that represent asymptotically optimal allocation search and adaptation. Using Lyapunov analysis for cascaded set-stable systems, uniform global/local asymptotic stability is guaranteed for the optimal set described by the system, the optimal allocation update-law and the adaptive update-law. Simulations of a scaled-model ship, manoeuvred at low-speed, demonstrate the performance of the proposed allocation scheme.

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A New Method of Thruster Control in Positioning of Ships Based on Power Control

Cited by 25 publications

References 3 publications

Anti-spin control for marine propulsion systems

Anti-spin control for marine propulsion systems

Optimizing Adaptive Control Allocation With Actuator Dynamics

On Optimizing Nonlinear Adaptive Control Allocation With Actuator Dynamics

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