Fin control for ship roll motion stabilisation based on observer enhanced MPC with disturbance rate compensation

被引：32

作者：

Jimoh, Isah Abdulrasheed ^{[1
]}

Kucukdemiral, Ibrahim Beklan ^{[1
]}

Bevan, Geraint ^{[1
]}

机构：

[1] Glasgow Caledonian Univ, Sch Comp Engn & Built Environm, Dept Appl Sci, 70 Cowcaddens Rd, Glasgow G4 0BA, Lanark, Scotland

来源：

OCEAN ENGINEERING | 2021年 / 224卷

关键词：

Ship roll stabilisation; Fin stabiliser; Model predictive control; Disturbance rejection; Disturbance rate compensation; MODEL-PREDICTIVE CONTROL; DESIGN; SYSTEM;

D O I：

10.1016/j.oceaneng.2021.108706

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

In this paper, a disturbance observer enhanced model predictive controller (MPC) which compensates for the wave-induced disturbance magnitude and rate is proposed for the ship roll motion stabilisation problem. The velocity model of the ship roll motion is used in the controller design to handle slowly varying modelling uncertainties and external disturbances. The rate of change of the disturbances induced by waves is then attenuated by formulating a control input that incorporates the estimated disturbance rate such that it is always in opposition to the rate of the environmental disturbances. The disturbance estimation was achieved by designing an observer based on convex optimisation formulated as an H-2 minimisation problem. Numerical simulation studies, under various conditions of the sea, showed the effectiveness of the proposed MPC scheme in reducing the undesired ship roll motion induced by sea waves.

引用

页数：15

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