Robust global sliding model control for water-hull-propulsion unit interaction systems - Part 2: Model validation

Abstract

Original scientific paper Unexpected severe hull deformation caused by wave loads poses alignment problem to the propulsion shaft line in large scale ships, which would significantly influence the dynamical performance of the marine propulsion system. How to suppress negative disturbance imposed by the interaction between water-hull-propulsion and ensure the normal operation of the marine propulsion system is a challenging task. To address this issue, a new global sliding model control (GSMC) for marine water-hull-propulsion unit systems is proposed and investigated to obtain more accurate control performance in a series of researches. In Part 1 the GSMC controller has been developed and the bounded nonlinear model uncertainties have been derived based on the experiments and sea trial. In this work the upper boundary of 1,85 % was introduced into the GSMC controller to derive the total control law realising the robust control of the marine propulsion system. Numerical simulations based on the real bulk carrier parameters show a high effectiveness of the GSMC for speed tracking, compared with the traditional sliding model controller and Proportional Integral Derivative (PID) controller. By the proposed and investigated control system in this paper may be developed a simple practical-effective robust control strategy for marine propulsion systems subject to some complex unknown uncertainties through further investigations, validations and modifications.Keywords: global sliding model control; marine propulsion system; nonlinear control model; uncertainties in marine propulsion system; water-hullprolusion unit interactions Upravljanje izdržljivim globalnim kliznim modelom za interakcijske sustave voda-trup-pogonska jedinica -Dio 2: Potvrđivanje modelaIzvorni znanstveni članak Neočekivana jaka deformacija trupa uzrokovana težinom valova predstavlja problem centriranja pogonskog osovinskog voda kod velikih brodova, što bi značajno utjecalo na dinamičke performanse brodskog pogonskog sustava. Kako smanjiti negativne poremećaje nastale interakcijom između vode-trupapogona i osigurati normalni rad brodskog pogonskog sustava, predstavlja pravi izazov. U tu se svrhu nizom istraživanja predlaže i ispituje novi globalni regulator kliznog modela (GSMC) za brodske sustave voda-trup-pogon kako bi se postiglo što točnije funkcioniranje upravljačkog sustava. U dijelu 1 ovoga istraživanja razvijen je upravljački mehanizam (GSMC controller) te ustanovljene granične nesigurnosti nelinearnog modela na temelju eksperimenata i pokusne plovidbe na moru. U ovom je radu uvedena gornja granica od 1,85 % u upravljanju regulatorom kliznog modela kako bi se dobio zakon o cjelokupnom upravljanju kojim bi se omogućilo sigurno upravljanje brodskim pogonskim sustavom. Numeričke simulacije na temelju parametara broda za rasuti teret pokazuju da je GSMC visoko učinkovit u praćenju brzine u usporedbi s tradicionalnim upravljačkim mehanizmom kliznog modela i upravljačkim mehanizmom Proportional Integral Derivative (PID). Dodatnim istraživanjima, prov...

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