GA-LADRC를 이용한 Mariner class vessel의 선수각 제어
GA-LADRC based control for course keeping applied to a mariner class vessel
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초록
본 연구에서는 항해 중 선박 내, 외부의 다양한 외란을 지속적으로 받는 선박의 선수각을 제어하기 위해 외란 제거 성능 향상에 보다 중점을 둔 LADRC 설계를 제안하였다. 타각의 회전에 따른 선박의 선수각의 변화속도를 중요한 요인으로 선정하였고, 조타장치를 포함한 선박의 조종방정식의 비선형 모델을 전체 외란으로 처리하였다. 이는 1차 전달 함수 모델에 대한 LADRC 설계와 동일한 프로세스이다. 이때, LADRC에 포함된 제어기의 이득과 확장된 상태 관측기의 이득은 평가 함수로서 시간 가중 절대 오차 적분 성능지수를 최소화하기 위해 실수 코딩 유전 알고리즘으로 튜닝되었다. 제안된 GA-LADRC 제어기를 Mariner급 선박의 선수각 제어에 적용하여 시뮬레이션을 수행하였다. 특히, 제안된 제어기는 바람이나 파고 등의 환경적 교란이 추가되고, 측정 센서에 노이즈가 포함되며, 불확실성이 발생하더라도 설정한 경로를 만족스럽게 유지하고 따르는 것을 확인하였다.
Abstract
In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship’s heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship’s maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.
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