On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot
碩士 === 國立海洋大學 === 導航與通訊系碩士班 === 91 === Exact mathematical model description of ship maneuvering is known to be difficult due to ever changing sea states and variations in ship operation condition. To comply with availability of controller design tools and for ease of implementation, a much simplifie...
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ndltd-TW-091NTOU03000152016-06-22T04:26:44Z http://ndltd.ncl.edu.tw/handle/87310864598127332101 On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot 結合內模式及順滑模式控制之船舶自航器設計與分析 Guan Wu Chen 陳關宇 碩士 國立海洋大學 導航與通訊系碩士班 91 Exact mathematical model description of ship maneuvering is known to be difficult due to ever changing sea states and variations in ship operation condition. To comply with availability of controller design tools and for ease of implementation, a much simplified ship model is usually adopted in the autopilot design. Consequently, the autopilot must possess certain robustness properties to be of practical use. In this work, the internal model control (IMC) method is incorporated with the sliding mode control (SMC) method to form the sliding internal model control (SIMC) method. This will eliminate the undesirable chattering behavior inherent with the sliding mode method, while maintaining the robustness properties. Consequently, the undesirable slew rate limitation (SRL) nonlinear behaviors and unnecessary wear of steering machining caused by chattering can be avoided. The proposed controller is characterized by switching between two controllers is based on a generalized error function that describes the zone of convergence. Numerical simulations indicate that tracking of both the sinusoidal reference heading angle and yaw rate functions are achieved with much improved chattering behavior in the presence of wave disturbances. C Y Tzeng 曾慶耀老師 2003 學位論文 ; thesis 92 zh-TW |
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碩士 === 國立海洋大學 === 導航與通訊系碩士班 === 91 === Exact mathematical model description of ship maneuvering is known to be difficult due to ever changing sea states and variations in ship operation condition. To comply with availability of controller design tools and for ease of implementation, a much simplified ship model is usually adopted in the autopilot design. Consequently, the autopilot must possess certain robustness properties to be of practical use. In this work, the internal model control (IMC) method is incorporated with the sliding mode control (SMC) method to form the sliding internal model control (SIMC) method. This will eliminate the undesirable chattering behavior inherent with the sliding mode method, while maintaining the robustness properties. Consequently, the undesirable slew rate limitation (SRL) nonlinear behaviors and unnecessary wear of steering machining caused by chattering can be avoided. The proposed controller is characterized by switching between two controllers is based on a generalized error function that describes the zone of convergence. Numerical simulations indicate that tracking of both the sinusoidal reference heading angle and yaw rate functions are achieved with much improved chattering behavior in the presence of wave disturbances.
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C Y Tzeng |
author_facet |
C Y Tzeng Guan Wu Chen 陳關宇 |
author |
Guan Wu Chen 陳關宇 |
spellingShingle |
Guan Wu Chen 陳關宇 On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot |
author_sort |
Guan Wu Chen |
title |
On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot |
title_short |
On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot |
title_full |
On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot |
title_fullStr |
On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot |
title_full_unstemmed |
On the Design and Analysis of Sliding Mode-Internal Model Control-Based Ship Steering Autopilot |
title_sort |
on the design and analysis of sliding mode-internal model control-based ship steering autopilot |
publishDate |
2003 |
url |
http://ndltd.ncl.edu.tw/handle/87310864598127332101 |
work_keys_str_mv |
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