Position Control of Heave Compensation for Offshore Cranes Based on a Particle Swarm Optimized Model Predictive Trajectory Path Controller

Chen, Hao; Xie, Jinke; Han, Jingang; Shi, Weifeng; Charpentier, Jean-Frédéric; Benbouzid, Mohamed

doi:10.3390/jmse10101427

Cited by 9 publications

(3 citation statements)

References 34 publications

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“…At the same time, course-overshoot of the controller is avoided by introducing a predictive PID control, which improves the accuracy of course-keeping. Subsequently, the parameters in the P-PB controller are optimized via PSO, which is characterized by its efficiency, and is widely used in the field of ship control to improve its applicability in various scenarios [38][39][40].…”

Section: Introductionmentioning

confidence: 99%

PSO-Based Predictive PID-Backstepping Controller Design for the Course-Keeping of Ships

Lin,

Zheng,

Han

et al. 2024

JMSE

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Ship course-keeping control is of great significance to both navigation efficiency and safety. Nevertheless, the complex navigational conditions, unknown time-varying environmental disturbances, and complex dynamic characteristics of ships pose great difficulties for ship course-keeping. Thus, a PSO-based predictive PID-backstepping (P-PB) controller is proposed in this paper to realize the efficient and rapid course-keeping of ships. The proposed controller takes the ship’s target course, current course, yawing speed, as well as predictive motion parameters into consideration. In the design of the proposed controller, the PID controller is improved by introducing predictive control. Then, the improved controller is combined with a backstepping controller to balance the efficiency and stability of the control. Subsequently, the parameters in the proposed course-keeping controller are optimized by utilizing Particle Swarm Optimization (PSO), which can adaptively adjust the value of parameters in various scenarios, and thus further increase its efficiency. Finally, the improved controller is validated by carrying out simulation tests in various scenarios. The results show that it improves the course-keeping error and time-response specification by 4.19% and 9.71% on average, respectively, which can efficiently achieve the course-keeping of ships under various scenarios.

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Section: Introductionmentioning

confidence: 99%

PSO-Based Predictive PID-Backstepping Controller Design for the Course-Keeping of Ships

Lin,

Zheng,

Han

et al. 2024

JMSE

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“…Offshore cranes are special electromechanical devices that are used in the marine environment to complete load lifting and transferring by controlling their own mechanical devices with rotational, translational joints [1]. The marine environment causes ships to swing in six degrees of freedom [2], and the lifting point of offshore cranes generates spatial displacement.…”

Section: Introductionmentioning

confidence: 99%

Simulation research on motion control system of offshore anti-rolling crane based on fuzzy PID control

Chang,

Zhu,

Ren

2024

International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023)

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The offshore anti-rolling crane has the anti-rolling device consisting of four connecting rods with a rotating joint at the end of crane arm. Under the control of the motion control system, the anti-rolling device can compensate for the spatial displacement of the crane's lifting point caused by swinging, thereby reducing the rolling of the load. In order to calculate the spatial displacement of the lifting point before and after the swing, this paper establishes the kinematic model of the crane arm and the anti-rolling device. Since running in swing condition, the motion control system faces several challenges, such as load sudden change, the given signal time-varying, external signal interference. In order to improve the control performance, this paper builds the simulation model of servo motor control system of the anti-rolling device applying Fuzzy-PID control in MATLAB/Simulink. The simulation results show that the Fuzzy-PID control is more suitable for the motion control system of the offshore anti-rolling crane in swing environment, which significantly improves the control performance, such as stability, following ability and robustness.

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“…Modeling a shipborne crane system and wave disturbance force is necessary for controlling the heave and sway displacement of the crane load [21]. Particle swarm, when optimized, could be utilized to optimize the feedback of the model predictive controller [22] or the proportional-integrative-derivate controller [23]. Other works [24,25] constructed and refined the dynamics to enhance the control effect based on kinematics.…”

Section: Introductionmentioning

confidence: 99%

An Offshore Self-Stabilized System Based on Motion Prediction and Compensation Control

Liu

Yuan

Xiao

et al. 2023

JMSE

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The swaying motion of ships can always be generated due to the influence of complex sea conditions. A novel offshore Self-Stabilized system based on motion prediction and compensation control was studied. Firstly, an autoregressive model of ship motion exposed to various sea conditions was established, and the parameters of the model were initialized and updated by offline and online learning historical data. Using the autoregressive model with the acquired parameters, the prediction of the ship’s motion was achieved. Then, a Self-Stabilized system platform composed of six electric cylinders in parallel was designed, and the corresponding inverse kinematics were established. The corresponding controller using the result of motion prediction as the input was also proposed to counteract the extra motion variables of the ship. Various experiments, by simulating different sea conditions, can be carried out. The results show that the average error of the motion prediction was less than 1%. The maximum error of the self-stabilizing control was 1.6°, and the average error was stable within 0.7°. The Self-Stabilized system was able to effectively compensate for the rocking motion of ships affected by waves, which was of great significance for improving the maritime safety guarantee and the intelligent level of shipborne equipment.

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Position Control of Heave Compensation for Offshore Cranes Based on a Particle Swarm Optimized Model Predictive Trajectory Path Controller

Cited by 9 publications

References 34 publications

PSO-Based Predictive PID-Backstepping Controller Design for the Course-Keeping of Ships

PSO-Based Predictive PID-Backstepping Controller Design for the Course-Keeping of Ships

Simulation research on motion control system of offshore anti-rolling crane based on fuzzy PID control

An Offshore Self-Stabilized System Based on Motion Prediction and Compensation Control

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