Predictive Control for a Fin Stabilizer
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A predictive controller can solve a control problem related to a disturbance-dominant system such as roll stabilization of aship in waves. In this paper, a predictive controller is developed for a fin stabilizer. Future wave-induced moment is modeled simplyusing two typical regular wave components for which six parameters are identified by the recursive Fourier transform and the leastsquares method using the past time series of the roll motion. After predicting the future wave-induced moment, optimal control theoryis applied to discover the most effective command fin angle that will stabilize the roll motion. In the results, wave prediction performanceis investigated, and the effectiveness of the predictive controller is compared to a conventional PD controller
Abstract
A predictive controller can solve a control problem related to a disturbance-dominant system such as roll stabilization of aship in waves. In this paper, a predictive controller is developed for a fin stabilizer. Future wave-induced moment is modeled simplyusing two typical regular wave components for which six parameters are identified by the recursive Fourier transform and the leastsquares method using the past time series of the roll motion. After predicting the future wave-induced moment, optimal control theoryis applied to discover the most effective command fin angle that will stabilize the roll motion. In the results, wave prediction performanceis investigated, and the effectiveness of the predictive controller is compared to a conventional PD controller
참고문헌 (4)
- "Instrument Society of America" (1976)
- "Dynamics of Marine Vehicles" (1976)
- "Guidance and Control of Ocean Vehicles" (1994)
- "Technical Report: Development of Technology for Attitude Control System of Ships on Waves", pp.8~15 (2004)