Development of automatic gain-tuning algorithm for heading control using free-running test data

IF 2.3 3区工程技术 Q2 ENGINEERING, MARINE International Journal of Naval Architecture and Ocean Engineering Pub Date : 2023-01-01 DOI:10.1016/j.ijnaoe.2023.100517

Jung-Hyeon Kim , Su-Rim Kim , Hyun-Jae Jo , Chan Young Yeo , Dong Jin Yeo , Kunhang Yun , Jeonghong Park , Jong-Yong Park

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Abstract

This study proposes an automatic gain-tuning algorithm for ships. The proposed algorithm is designed to tune the gains of the ship controller automatically, rather than using trial and error. The forward speed and steering models were derived by linearizing and simplifying the 3-degrees of freedom (DOF) nonlinear equation of motion of the ship. The initial control gains were calculated using an error dynamics model constructed by combining the steering and system models of the controller. The maneuvering simulations and sensitivity analysis of the control performance at various control gains were performed for gain-tuning. System identification was conducted based on derived dynamics models and free-running test data. The tests verified that the gain-tuning algorithm corrects the gains more accurately and rapidly than trial and error. In addition, the algorithm reduced overshoot by 85% compared to the initial control gains.

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基于自由运行试验数据的航向控制增益自动调谐算法的开发

本文提出了一种船舶自动增益调谐算法。提出的算法是为了自动调整船舶控制器的增益，而不是使用试错法。通过对船舶三自由度非线性运动方程进行线性化和简化，得到了船舶前向航速和转向模型。结合控制器的转向模型和系统模型建立误差动力学模型，计算初始控制增益。为了进行增益整定，进行了不同控制增益下的机动仿真和控制性能灵敏度分析。基于导出的动力学模型和自由运行试验数据进行了系统辨识。实验证明，增益调谐算法比试错法更准确、更快速地校正增益。此外，与初始控制增益相比，该算法减少了85%的超调。

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来源期刊

International Journal of Naval Architecture and Ocean Engineering ENGINEERING, MARINE-

CiteScore

4.90

自引率

4.50%

发文量

审稿时长

12 months

期刊介绍： International Journal of Naval Architecture and Ocean Engineering provides a forum for engineers and scientists from a wide range of disciplines to present and discuss various phenomena in the utilization and preservation of ocean environment. Without being limited by the traditional categorization, it is encouraged to present advanced technology development and scientific research, as long as they are aimed for more and better human engagement with ocean environment. Topics include, but not limited to: marine hydrodynamics; structural mechanics; marine propulsion system; design methodology & practice; production technology; system dynamics & control; marine equipment technology; materials science; underwater acoustics; ocean remote sensing; and information technology related to ship and marine systems; ocean energy systems; marine environmental engineering; maritime safety engineering; polar & arctic engineering; coastal & port engineering; subsea engineering; and specialized watercraft engineering.