The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Mereka bentuk pengawal kapal adalah masalah yang mencabar kerana dinamik tak linear, ketidakpastian dalam parameter dan gangguan luaran. Tambahan pula, interaksi antara sudut yaw dan guling meningkatkan kerumitan isu ini apabila autopilot dan penstabil guling dipertimbangkan bersama. Dalam penyelidikan ini, pengawal mod gelongsor MIMO direka untuk mengawal sudut yaw dan guling secara serentak. Sumbangan utama kertas kerja ini ialah mereka bentuk pengawal bersepadu berdasarkan model kapal bukan linear serta mempertimbangkan sempadan analitik ketidakpastian. Kemudian, untuk mengurangkan fenomena chattering dan untuk meningkatkan keupayaan pengesanan sistem, skim kawalan telah diubah suai menggunakan pembolehubah pensuisan kamiran. Keputusan simulasi menunjukkan kejayaan kaedah yang dicadangkan untuk mengatasi ketaklinearan dan gangguan, serta prestasi tinggi dalam keadaan gelombang kasar. Juga, perbandingan antara pengawal yang dicadangkan dan dua skim kawalan SISO menunjukkan kelebihan kaedah kawalan bersepadu.
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Salinan
Abbas HARIFI, Ghasem ALIZADEH, Sohrab KHANMOHAMMADI, Iraj HASSANZADEH, "Integrated Sliding Mode Controller Design for Autopilot and Roll Stabilizer of Ship" in IEICE TRANSACTIONS on Fundamentals,
vol. E93-A, no. 6, pp. 1171-1180, June 2010, doi: 10.1587/transfun.E93.A.1171.
Abstract: Designing ship controllers is a challenging problem because of nonlinear dynamics, uncertainty in parameters and external disturbances. Furthermore, the interaction between yaw and roll angles increase the complexity of this issue when autopilot and roll stabilizer are considered together. In this research, a MIMO sliding mode controller is designed to control yaw and roll angles simultaneously. The major contribution of the paper is designing an integrated controller based on a nonlinear model of ship as well as considering analytic bounds of uncertainties. Then, in order to reduce the chattering phenomenon and to improve the tracking ability of the system, the control scheme has been modified using an integral switching variable. Simulation results show the success of the proposed method to overcome nonlinearity and disturbances, as well as high performance in rough wave conditions. Also, comparison between the proposed controller and two SISO control schemes demonstrates advantages of the integrated control method.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E93.A.1171/_p
Salinan
@ARTICLE{e93-a_6_1171,
author={Abbas HARIFI, Ghasem ALIZADEH, Sohrab KHANMOHAMMADI, Iraj HASSANZADEH, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Integrated Sliding Mode Controller Design for Autopilot and Roll Stabilizer of Ship},
year={2010},
volume={E93-A},
number={6},
pages={1171-1180},
abstract={Designing ship controllers is a challenging problem because of nonlinear dynamics, uncertainty in parameters and external disturbances. Furthermore, the interaction between yaw and roll angles increase the complexity of this issue when autopilot and roll stabilizer are considered together. In this research, a MIMO sliding mode controller is designed to control yaw and roll angles simultaneously. The major contribution of the paper is designing an integrated controller based on a nonlinear model of ship as well as considering analytic bounds of uncertainties. Then, in order to reduce the chattering phenomenon and to improve the tracking ability of the system, the control scheme has been modified using an integral switching variable. Simulation results show the success of the proposed method to overcome nonlinearity and disturbances, as well as high performance in rough wave conditions. Also, comparison between the proposed controller and two SISO control schemes demonstrates advantages of the integrated control method.},
keywords={},
doi={10.1587/transfun.E93.A.1171},
ISSN={1745-1337},
month={June},}
Salinan
TY - JOUR
TI - Integrated Sliding Mode Controller Design for Autopilot and Roll Stabilizer of Ship
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1171
EP - 1180
AU - Abbas HARIFI
AU - Ghasem ALIZADEH
AU - Sohrab KHANMOHAMMADI
AU - Iraj HASSANZADEH
PY - 2010
DO - 10.1587/transfun.E93.A.1171
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E93-A
IS - 6
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - June 2010
AB - Designing ship controllers is a challenging problem because of nonlinear dynamics, uncertainty in parameters and external disturbances. Furthermore, the interaction between yaw and roll angles increase the complexity of this issue when autopilot and roll stabilizer are considered together. In this research, a MIMO sliding mode controller is designed to control yaw and roll angles simultaneously. The major contribution of the paper is designing an integrated controller based on a nonlinear model of ship as well as considering analytic bounds of uncertainties. Then, in order to reduce the chattering phenomenon and to improve the tracking ability of the system, the control scheme has been modified using an integral switching variable. Simulation results show the success of the proposed method to overcome nonlinearity and disturbances, as well as high performance in rough wave conditions. Also, comparison between the proposed controller and two SISO control schemes demonstrates advantages of the integrated control method.
ER -