A Sliding Mode Controller of Rudder Angle Servomechanism in Steer-by-Wire System of Pleasure Boat

Toyama, Shigehiro; Ikeda, Fujio; Seta, Hiroaki

doi:10.1299/jsdd.5.1127

Cited by 3 publications

(4 citation statements)

References 14 publications

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“…The operation simulations are formed from a simplified ship simulator, which can execute high safety and reproducible simulations. A hydraulic manual steering mechanism is evaluated by the proposed items, and some design criteria of the electronic control steering system (3) for pleasure boats are finally investigated. Figure 1 shows an outline of a typical hydraulic steering system, which is widely employed for pleasure boats.…”

Section: Journal Of System Design and Dynamicsmentioning

confidence: 99%

“…The electronic controlled steering system, which is proposed to improve such operability in Ref. (3), has some functions such as transferring arbitrary reaction torque to captains through the helm and designing arbitrary transfer characteristics from the helm operation to the rudder angle with by-wire technique. One of the design criteria for such steering system is to show the magnitude of the normal pressure P N , which could be estimated by some algorithm, into captains with reaction torque of the helm operation, and to make low pass filter, which should be designed for the dynamics of the pleasure boat, of the transfer characteristics from the helm operation to the rudder angle so that large swing operation is not generated.…”

Section: Design Criteria Of Electronic Controlled Steering Systemmentioning

confidence: 99%

“…Another reason is not so quick steering, since the helm lock to lock is generally 4-7 turns. In order to improve the operability, By-Wire technique (2), (3) should be introduced like Fly-By-Wire system of airplane which communicate the pilot's steering information with electric signal (4) , and advanced steering control system of pleasure boats should be constructed like flight control system to prevent malfunction and stabilize posture…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Operability Evaluation of Pleasure Boats Based on Usability as Addressed by ISO 9241-11

Toyama

Iihama

Ikeda

et al. 2013

JSDD

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This paper proposes an evaluation method for operability of pleasure boats in order to develop an electronic control steering system of those boats. Based on the concept of usability as addressed by ISO 9241-11, some evaluation standards such as effectiveness and efficiency are defined for a task of avoiding collision and resuming original course. For safety and repeatability, the simulation with a simplified ship simulator, which is composed a manual hydraulic steering system as hardware in HILS, is performed instead of experiments. As the results of the simulation, it is found that the operability of the manual hydraulic steering system deteriorates in the case of emergency collision avoidance. In particular, the wakes of the course resuming after the emergency collision avoidance are caused to be winding by wrong estimate of the normal pressure and by time delay in the dynamics of the pleasure boat. Therefore, it is found that the electronic control steering system of pleasure boats should have the functions to support estimation of the normal pressure and to compensate the time delay.

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Section: Journal Of System Design and Dynamicsmentioning

confidence: 99%

Section: Design Criteria Of Electronic Controlled Steering Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Operability Evaluation of Pleasure Boats Based on Usability as Addressed by ISO 9241-11

Toyama

Iihama

Ikeda

et al. 2013

JSDD

Self Cite

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“…One of features of the sliding mode control is to show invariant performance against uncertainty of satisfying the matching condition theoretically, though the control law based on discontinuous switching relay input is relatively simple structure. Many researches on application of the sliding mode control have been advanced energetically (For example, Huang, et al, 2007, Chang and Ting, 2009, Toyama, et al, 2011. The sliding mode control seems to be suitable for control of the active suspension systems, which need high robustness against actuator uncertainty of active suspension systems.…”

Section: Introductionmentioning

confidence: 99%

Integral sliding mode control for active suspension systems of half-vehicle model

Toyama

Ikeda

2015

Mechanical Engineering Journal

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This paper proposes a design method of sliding mode controller with the robustness against actuator uncertainty for active suspension systems of half-vehicle model. The features of the proposed sliding mode controller are not to require any force sensors to constitute local force feedback loop and to avoid chattering, which will be often a problem in sliding mode control. Based on the concept of the second order sliding mode control, the switching control input is redesigned by the describing function method in order to occur limit cycles of the switching function. Occurring the limit cycles instead of perfect sliding mode can lead continuous control inputs to suppress deterioration in high frequency band. The describing function method shows the existing condition of the limit cycles for the design parameters of the redesigned switching input. From numerical simulations, it can be checked that the proposed sliding mode controller can occur almost desired limit cycles of the switching function. Also, it can be seen that the proposed sliding mode controller shows high robustness against actuator uncertainty while it can suppress chattering in high frequency band.

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Operability Evaluation of Pleasure Boats Based on Usability as Addressed by ISO 9241-11

Iihama

Toyama²,

Ikeda³

et al. 2013

Trans.JSME(C)

View full text Add to dashboard Cite

This paper proposes an evaluation method for operability of pleasure boats in order to develop an electronic control steering system of those boats. Based on usability as addressed by ISO 9241-11, some evaluation criteria such as effectiveness and efficiency are defined for a task of collision avoidance and course resuming. For safety and repeatability, the simulation with a simplified ship simulator, which is composed a manual hydraulic steering system as hardware in HILS, is performed instead of experiments. As a result of the simulation, it is found that the operability of the manual hydraulic steering system deteriorates in the case of emergency collision avoidance. In particular, the wakes of the course resuming after the emergency collision avoidance are caused to be periodic by wrong estimate of the normal pressure and by time delay in the dynamics of the pleasure boat. Therefore, it is found that the electronic control steering system of pleasure boats should have the functions to support estimation of the normal pressure and to compensate the time delay.

show abstract

A Sliding Mode Controller of Rudder Angle Servomechanism in Steer-by-Wire System of Pleasure Boat

Cited by 3 publications

References 14 publications

Operability Evaluation of Pleasure Boats Based on Usability as Addressed by ISO 9241-11

Operability Evaluation of Pleasure Boats Based on Usability as Addressed by ISO 9241-11

Integral sliding mode control for active suspension systems of half-vehicle model

Operability Evaluation of Pleasure Boats Based on Usability as Addressed by ISO 9241-11

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