|Table of Contents|

Citation:
　Lijun Wang,Nikolaos I. Xiros,Eleftherios K. Loghis.Design and Comparison of H∞/H2 Controllers for Frigate Rudder Roll Stabilization[J].Journal of Marine Science and Application,2019,(4):492-509.[doi:10.1007/s11804-019-00116-3]
Click and Copy

Design and Comparison of H∞/H2 Controllers for Frigate Rudder Roll Stabilization

Info

Title:
Design and Comparison of H∞/H2 Controllers for Frigate Rudder Roll Stabilization
Author(s):
Lijun Wang1;  Nikolaos I. Xiros2;  Eleftherios K. Loghis3
Affilations:
Author(s):
Lijun Wang1;  Nikolaos I. Xiros2;  Eleftherios K. Loghis3
1 School of Navigation, Guangdong Ocean University, Zhanjiang 524088, China;
2 School of Naval Architecture and Marine Engineering, University of New Orleans, New Orleans, LA 70148, USA;
3 School of Electrical and Computer Engineering, National Technical University of Athens, 15780 Zografou, Greece
Keywords:
Rudder roll stabilization; H∞/H2 Controllers; Frigate
分类号:
-
DOI:
10.1007/s11804-019-00116-3
Abstract:
Roll motion of ships can be distinguished in two parts:an unavoidable part due to their natural movement while turning and an unwanted and avoidable part that is due to encounter with waves and rough seas in general. For the attenuation of the unwanted part of roll motion, ways have been developed such as addition of controllable fins and changes in shape. This paper investigates the effectiveness of augmenting the rudder used for rejecting part of the unwanted roll, while maintaining steering and course changing ability. For this purpose, a controller is designed, which acts through intentional superposition of fast, compared with course change, movements of rudder, in order to attenuate the high-frequency roll effects from encountering rough seas. The results obtained by simulation to exogenous disturbance support the conclusion that the roll stabilization for displacement can be effective at least when displacement hull vessels are considered. Moreover, robust stability and performance is verified for the proposed control scheme over the entire operating range of interest.

References:

Balchen JG, Jenssen NA, Mathisen E, S?lid SA (1980) Dynamic positioning system based on Kalman filtering and optimal control.Model Identif Control 1(3):135-163. https://doi.org/10.4173/mic.1980.3.1
Bretschneider CL (1959) Wave variability and wave spectra for wind generated gravity waves. Technical report, beach Erosion board, corps, of engineers, 118
Christensen AC, Blanke M (1986) A linearized state-space model in steering and roll of a high-speed container ship. Technical University of Denmark, Servolaboratory, DTH, Copenhagen, 10-32
Cowley WE, Lambert TH (1972) The use of rudder as a aoll stabilizer.Proceedings of the 3rd international ship control systems symposium (SCSS’72), Bath, UK, 345-354
Doyle JC, Glover K, Khargonekar P, Francis B (1989) State-space solutions to standard H2 and H∞ control problems. IEEE Trans Autom Control 34(8):831-847
Eda H, Crane CL (1965) Steering characteristics of ships in calm water and in waves. Society of Naval Architects and Marine EngineersTransactions 73:132-163
Faltinsen OM (1990) Sea loads on ships and offshore structures.Norwegian Institute of Technology, Trondheim, 257-277
Fossen TI (1994) Guidance and control of ocean vehicles. John Wiley and Sons, Tronheim, 295-306
Fossen TI (2011) Handbook of marine craft hydrodynamics and motion control. John Wiley and Sons, Tronheim, 433-445
Glover K, Doyle JC (1988) State-space formulae for all stabilizing controllers that satisfy an H∞ norm bound and relations to risk sensitivity. Syst Control Lett 11:167-172
Golnaraghi F, Kuo BC (2010) Automatic control systems. Prentice-Hall, Vancouver, 253-275
Green M, Limebeer DJN (1995) Linear robust control. Prentice-Hall, London, 263-301
Healey AJ (1992) Marine vehicle dynamics lecture notes and problem sets. Naval postgraduate school (NPS), Monterey, 22-34
Kallstrom CG, Schultz WL (1990) An integrated rudder control system for roll damping and maintenance. 9th International Ship Control Systems Symposium (SCSS’90), Bethesda, MD, 9.228-9.296
Lauvdal T (1998) Stabilization of linear systems with input magnitude and rate saturations. PhD thesis, Norwegian University of Science and Technology, Trondheim, Norway, 87-96
Lloyd AEJM (1975) Roll stabilization by rudder. Proceedings of the 4th international ship control systems symposium (SCSS,75). Hague, Netherlands, 581-609
Martin RJ (1985) Multivariable control system design for a submarine using active roll control. Master thesis, MIT, Cambridge, Massachusetts, USA, 52-76
Nagrath IJ, Gopal M (1986) Control systems engineering, 2nd edn. John Wiley and Sons, Singapore, 513-568
Neumann G (1952) On wind-generated ocean waves with special reference to the problem of wave forecasting. New York University, College of Eng. Res. Div., Dept. of Meteorology and Oceanography, New York, 11-35
Perez T (2005) Ship motion control course keeping and roll stabilization using rudder and fins. Springer-Verlag, London, 113-122
Pierson WJ, Moskowitz L (1964) A proposed spectral form for fully developed wind seas based on the similarity theory of SA Kitaigorodskii. J Geophys Res 69(24):5181c5190. https://doi.org/10.1029/JZ069i024p05181
Roberts GN (1992) Ship roll damping using rudder and stabilizing fins.Proceedings of IFAC workshop on control applications in marine systems (CAMS’92), Genoa, Italy, 129-138
Saelid S, Jenssen NA (1983) Adaptive ship autopilot with wave filter.Model Identif Control 4(l):33-46. https://doi.org/10.4173/mic.1983.1.3
Skogestad S, Postlethwaite I (1996) Multivariable feedback control.Analysis and design. Wiley, Chichester, 253-290
Smith JE (1977) Mathematical modeling and digital simulation for engineers and scientists. John Wiley and Sons, New York, pp 175-203
SNAME (1989) The society of naval architects and marine engineers.Guide for Sea Trials Technical and Research Bulletin No 3-17
Son KH, Nomoto K (1981) On the coupled motion of steering and rolling of a high speed container ship. Nav Archit Ocean Eng 150:232-244. https://doi.org/10.2534/jjasnaoe1968.1981.150_23
Sorensen AJ, Sagatun SI, Fossen TI (1995) Design of a dynamic positioning system using model based control. IFAC Proceedings Volumes 28(2):16-26
Tempo R, Blanchini F (1996) Robustness analysis with real parametric uncertainty. Levine WS (ed) The Control Handbook. IEEE Press, 495-505
Triantafyllou MS, Bodson M, Athans M (1983) Real time estimation of ship motions using kalman filtering techniques. IEEE J Ocean Eng 8(l):9-20. https://doi.org/10.1109/JOE.1983.1145542
Van Amerongen J, Van Cappelle JC (1981) Mathematical modelling for rudder roll stabilization. Proceedings of the 6th International Ship Control Systems Symposium (SCSS’81), Ottawa, Canada, 238-260
Van Amerongen J, Van der Klugt PGM, Van Nauta Lempke HR (1990) Rudder roll stabilization for ships. Automatica 26(4):679-690. https://doi.org/10.1016/0005-1098(90)90045-j
Van Der Klugt PGM (1987) Rudder roll stabilization. Technische Universiteit Delft, Delft, 1-192
Zhou WW (1987) Identification of nonlinear marine systems. PhD thesis, The Technical University of Denmark, Servolaboratoriet, Lyngby, 97-143
Zhou K, Doyle JC (1998) Essentials of robust control. Prentice-Hall, Louisiana, 253-300
Zhou K, Doyle JC, Glover K (1996) Robust and optimal control.Prentice-Hall, 365-392

Memo

Memo:
Received date:2018-12-27;Accepted date:2019-05-06。
Corresponding author:Nikolaos I. Xiros,nxiros@uno.edu
Last Update: 2020-02-04