Article

Article title ADAPTIVE CONTROL OF MMO UNDER THE INFLUENCE OF PERTURBATIONS
Authors S.K. Danilova, A.M. Kuskov, I.M. Kuskov, N.N. Tarasov
Section SECTION VI. MANAGEMENT SYSTEM
Month, Year 01-02, 2017 @en
Index UDC 681.511.48
DOI
Abstract The study offers the structure of marine moving object (MMO) control while maneuvering with external disturbances, that includes filter with integral closure errors. A distinctive feature of the proposed structure of the filter is the use not only of closure errors from the model of the filter and the measuring system, but also of the integrals of them, which allows make separation of re-siduals into low-frequency and high-frequency components and ensure good operation of the con-trol system under the conditions of unknown perturbations (wind-wave perturbations, perturbations from changes in density and temperature of water, slowly varying perturbations). The unknown external disturbances are estimated by means of a lag element with a time constant T. An increase in T makes it possible to obtain smoothed estimates of high-frequency perturbations and thereby reduce the load on the controls. Owing to the estimation of external disturbances, more advanced control algorithms are proposed, which make it possible to compensate for both unknown external disturbances and the inaccuracy of the model of motion itself, thereby increasing the quality of control of MMO. To smooth the control actions, a lag element with a time constant T1 is included in the control loop. It is shown that an increase of T1 makes it possible to greatly reduce the load on the steering while maintaining the quality of the transient processes. Thus, the wear of the rudders is reduced and the secrecy of maneuvering of the MPO is increased. Using the method of full-scale imitation modeling, the effects of the magnitude of the time constants T and T1 on the quality of control and restoration of perturbations were carried out. Suggested ranges of values for these constants are proposed to ensure quality of control and estimation of external disturbances. It is shown that a control law that uses estimates of the phase coordinates obtained with the help of the Kalman filter does not provide sufficient quality of transient processes under the action of wave and slowly varying perturbations, while the filter with separation of closure errors eliminates this defect and allows to correct standart laws of control and to improve the quality of control of MMOs. Realized full-scale imitation modeling confirms the feasibility of the proposed filtering and control algorithms.

Download PDF

Keywords Marine moving object; filter with closure errors separation; lag element; external disturb-ances; control law; full-scale imitation modeling.
References 1. Kvakernaak Kh., Sivan R. Lineynye optimal'nye sistemy upravleniya [Linear optimal control systems]. Moscow: Mir, 1977, 656 p.
2. Fil'tratsiya i stokhasticheskoe upravlenie v dinamicheskikh sistemakh [Filtration and stochastic management in dynamic systems], ed. by K.T. Leondesa. Moscow: Mir, 1980, 407 p.
3. Seydzh E.P., Melsa Dzh.L. Identifikatsiya sistem upravleniya [Identification of control systems]. Moscow: Nauka, 1974, 248 p.
4. Tarasov N.N., Takhtamyshev M.G. Algoritmy polucheniya nesmeshchennykh otsenok pri deystvii neizvestnykh vneshnikh vozmushcheniy [Algorithms for obtaining unbiased estimates under the action of unknown external disturbances], Problemy upravleniya [Problems of man-agement], 2012, No. 6, pp. 69-74.
5. Upravlenie podvodnym apparatom pri ne-polnoy informatsii o modeli dvizheniya i vneshnikh vozmushcheniy [Control of underwater vehicle with non-complete information about the motion model and external disturbances], Mekhatronika, avtomatizatsiya, upravlenie [Mechatronics, Automation, Control], 2016, Vol. 17, No. 5, pp. 354-360.
6. Evlanov L.G. Kontrol' dinamicheskikh system [Control of dynamic systems]. Moscow: Nauka, 1979, 432 p.
7. Kouen K.F.N., Grant P.M. Adaptivnye fil'try [The adaptive filters]. Moscow: Mir, 1988, 392 p.
8. Dzhonson S. Teoriya regulyatorov, prisposablivayushchikhsya k vozmushcheniyam [The theory of regulators to adapt to disturbances], V kn. Fil'tratsiya i stokhasticheskoe upravlenie dinamicheskikh sistemakh [In the book. Filtering and stochastic control of dynamical systems], ed. by Leondesa K.T. Moscow: Mir,1980, 406 p.
9. Martin U., Stabberud A. Protsess obnovleniya v zadachakh identifikatsii [The upgrade process in the task identification], V kn. Fil'tratsiya i stokhasticheskoe upravlenie dinamicheskikh sistemakh [In the book. Filtering and stochastic control of dynamical systems], ed. by Leondesa K.T. Moscow: Mir, 1980, 406 p.
10. Kazakov I.E., Artem'ev V.M. Optimizatsiya dinamicheskikh sistem sluchaynoy struktury [Op-timization of dynamic systems with random structure]. Moscow: Nauka, 1980, 384 p.
11. Klyachko L.M., Tarasov N.N., Ostretsov G.E. Algoritmy fil'tratsii s integral'nymi nevyazkami pri upravlenii sudnom v usloviyakh razvitogo volneniya [Filtering with integrated residuals in the management of the vessel in terms of developed disturbances], Morskoy vestnik [Herald of the Sea], 2014, No. 1 (49).
12. Danilova S.K., Kuskov I.M. Teoreticheskie i metodicheskie osnovy analiza i sinteza operativnogo upravleniya BZhKS [Theoretical and methodological foundations of analysis and synthesis of operational management.], Avtomatizatsiya protsessov bor'by za zhivuchest' korablya, sudna. Kollektivnaya monografiya [Automation of processes of struggle for survivability of the ship, ship. The collective monograph]. St. Petersburg: IAP BZhKS, electronic second edition, revised and enlarged, 2015, pp. 319-335.
13. Vasil'ev S.N., Danilova S.K. Imitatsionnoe modelirovanie kak metod issledovaniya i proektirovaniya kompleksnoy sistemy upravleniya klassom morskikh podvodnykh ob"ektov [Simulation as a research method and designing a comprehensive system of classroom man-agement of subsea objects], Trudy 6-y Vserossiyskoy nauchno-prakticheskoy konferentsii «Imitatsionnoe mo-delirovanie. Teoriya i praktika» (IMMOD-2013, Kazan') [Proceedings of 6-th all-Russian scientific-practical conference "simulation. Theory and practice" (IMMOD-2013, Kazan)]. Kazan': Izd-vo «FEN» Akademii nauk RT, 2013, No. 1, pp. 35-45.
14. Danilova S.K., Lapitskiy A.D., Minenok A.E. Intellektual'nye komp'yuternye tekhnologii proektirovaniya perspektivnykh sistem upravleniya odnim klassom mnogotselevykh morskikh podvizhnykh ob"ektov [Intellectual computer technologies of designing advanced control sys-tems for a class of multi-purpose marine mobile objects], Materialy Odinnadtsatoy Vserossiyskoy nauchno-prakticheskoy konferentsii «Perspektivnye sistemy i zadachi upravleniya» i Sed'moy molodezhnoy shkoly-seminara «Upravlenie i obrabotka informatsii v tekhnicheskikh sistemakh» [Proceedings of Eleventh all-Russian scientific-practical conference "advanced systems and control problems" and on the Seventh youth school-seminar "Man-agement and processing of information in technical systems"]: in 2 vol. Vol. I. Rostov-on-Don: Izd-vo YuFU, 2016, pp. 137-149.
15. Danilova S.K., Kuskov A.M., Kuskov I.M, Tarasov N.N. Model' dvizheniya i upravleniya TNPA v slozhnoy dinamicheskoy sisteme [Model the movement and management of TNLA in a complex dynamic system], Materialy desyatoy vserossiyskoy nauchno-prakticheskoy konferentsii "Perspektivnye sistemy i zadachi upravleniya" i shestoy molodezhnoy shkoly-seminara "Upravlenie i obrabotka informatsii v tekhnicheskikh sis-temakh" [Materials tenth all-Russian scientific-practical conference "advanced systems and control problems" and the sixth youth school-seminar "Management and processing of information in technical systems"]: in 2 vol. Vol. 1. Rostov-on-Don: Izd-vo YuFU, 2015, pp. 125-139.
16. Shleyer G.E., Borisov V.G. Upravlenie dvizheniem morskikh i rechnykh sudov [Motion control of marine and river vessels]. Mjscow: IPU, 1981, 62 p.
17. Lukomskiy Yu.A., Korchanov V.M. Upravlenie morskimi podvizhnymi ob"ektami [Management of marine mobile objects]. St. Petersburg: Izd-vo «Elmor», 1996, 320 p.
18. Danilova S.K., Borisov V.G. Metodologiya issledovaniya i razrabotki mnogorezhimnoy kompleksnoy algortmicheskoy struktury sistemsy upravleniya morskimi ergaticheskimi ob"ektami [The methodology of the research and development of multi-mode integrated algoritmicheskie structure systems management of marine ergatic objects], Materialy 8-y Vserossiyskoy nauchno-prakticheskoy konferentsii «Perspektivnye sistemy i zadachi upravleniya» (Taganrog-Dombay, 2013) [Materials of the 8th all-Russian scientific-practical conference "advanced systems and control problems" (Taganrog-Dombai, 2013)]. Taganrog: Izd-vo YuFU, 2013, pp. 228-236.
19. Danilova S.K., Borisov V.G. Sreda modelirovaniya dlya sozdaniya intellektual'nykh sredstv podderzhki operatorov upravleniya morskimi podvodnymi ob"ektami [Simulation environment for intelligent support tools to operators in the management of marine underwater objects], Trudy 7-y Vserossiyskoy nauchno-prakticheskoy konferentsii «Perspektivnye sistemy i zadachi upravleniya» (Taganrog, 2012) [Proceedings of 7-th all-Russian scientific-practical conference "advanced systems and control problems" (Kazan, 2012)]. Taganrog: TTI YuFU, 2012, pp. 254-259.
20. Aminev B.D., Gromov R.S., Kuskov I.M., Lapitskiy A.D., Minenok A.E., Khrimpach K.M. K postanovke problemy razrabotki sistemy intellektual'nogo upravleniya morskim podvodnym ob"ektom v normal'nykh i avariynykh tselyakh ekspluatatsii [Problem statement developing a system of intelligent management of the marine underwater object in normal and emergency exploitation], Trudy 7-oy Vserossiyskoy nauchno-prakticheskoy konferentsii «Perspektivnye sistemy i zadachi upravleniya» (Taganrog, 2012) [Proceedings of 7-th all-Russian scientific-practical conference "advanced systems and control problems" (Kazan, 2012)]. Taganrog: TTI YuFU, 2012, pp. 227-233.

Comments are closed.