COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE
This study examines the course-keeping control of directionally unstable large oil tankers involving a pole in the right half plane. Treated as an unstable plant in control engineering, tankers are theoretically and experimentally investigated during the controller design process. First, the unstabl...
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doaj-33428c0f50d84f0391a2c90eeab79d492021-01-07T11:46:06ZengFaculty of Mechanical Engineering and Naval ArchitectureBrodogradnja0007-215X1845-58592020-01-01714678010.21278/brod71405270COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUEBai Chunjiang0Wang Hui1Ju Tingting2Shi Hanwen3Navigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaThis study examines the course-keeping control of directionally unstable large oil tankers involving a pole in the right half plane. Treated as an unstable plant in control engineering, tankers are theoretically and experimentally investigated during the controller design process. First, the unstable plant is mirror-mapped to its corresponding stable minimum phase plant using the mirror-mapping technique, which enables an easy controller design. Then, a linear proportional-differential and a first-order filter controller is designed based on the closed-loop gain shaping algorithm, which requires only one controller parameter to be properly selected based on the system’s characteristics. Numerical simulation results confirmed that the designed controller can successfully stabilise an unstable plant subjected to external wind and wave disturbances. The controller designed with the proposed method is suitable for course-keeping control of directionally unstable large tankers. The controller design method is simple with an uncomplicated structure that can easily be implemented in engineering endeavours. Moreover, the rudder motion is small and soft.https://hrcak.srce.hr/file/358486course keepinglarge tankership motiondirectionally unstable |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Bai Chunjiang Wang Hui Ju Tingting Shi Hanwen |
spellingShingle |
Bai Chunjiang Wang Hui Ju Tingting Shi Hanwen COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE Brodogradnja course keeping large tanker ship motion directionally unstable |
author_facet |
Bai Chunjiang Wang Hui Ju Tingting Shi Hanwen |
author_sort |
Bai Chunjiang |
title |
COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE |
title_short |
COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE |
title_full |
COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE |
title_fullStr |
COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE |
title_full_unstemmed |
COURSE-KEEPING CONTROL FOR DIRECTIONALLY UNSTABLE LARGE TANKERS USING THE MIRROR-MAPPING TECHNIQUE |
title_sort |
course-keeping control for directionally unstable large tankers using the mirror-mapping technique |
publisher |
Faculty of Mechanical Engineering and Naval Architecture |
series |
Brodogradnja |
issn |
0007-215X 1845-5859 |
publishDate |
2020-01-01 |
description |
This study examines the course-keeping control of directionally unstable large oil tankers involving a pole in the right half plane. Treated as an unstable plant in control engineering, tankers are theoretically and experimentally investigated during the controller design process. First, the unstable plant is mirror-mapped to its corresponding stable minimum phase plant using the mirror-mapping technique, which enables an easy controller design. Then, a linear proportional-differential and a first-order filter controller is designed based on the closed-loop gain shaping algorithm, which requires only one controller parameter to be properly selected based on the system’s characteristics. Numerical simulation results confirmed that the designed controller can successfully stabilise an unstable plant subjected to external wind and wave disturbances. The controller designed with the proposed method is suitable for course-keeping control of directionally unstable large tankers. The controller design method is simple with an uncomplicated structure that can easily be implemented in engineering endeavours. Moreover, the rudder motion is small and soft. |
topic |
course keeping large tanker ship motion directionally unstable |
url |
https://hrcak.srce.hr/file/358486 |
work_keys_str_mv |
AT baichunjiang coursekeepingcontrolfordirectionallyunstablelargetankersusingthemirrormappingtechnique AT wanghui coursekeepingcontrolfordirectionallyunstablelargetankersusingthemirrormappingtechnique AT jutingting coursekeepingcontrolfordirectionallyunstablelargetankersusingthemirrormappingtechnique AT shihanwen coursekeepingcontrolfordirectionallyunstablelargetankersusingthemirrormappingtechnique |
_version_ |
1724346465705263104 |