A model predictive vertical motion control of a passenger ship

Ibrahim Beklan Kucukdemiral, Ferdi Cakici, Hakan Yazici

Research output: Contribution to journalArticle

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Abstract

In this study, the design problem of a Model Predictive Controller (MPC) for attenuation of vertical motions of a passenger ship which is subject to irregular wave excitations is investigated. The proposed design considers actuator amplitude and rate saturation phenomenon. The motion control system of the ship utilises a pair of active stabilizing fins mounted to the head and tail. First, irregular long crested head waves are implemented by a well-established randomization theory in order to find heave force and pitch moment at Fn = 0.40 and Fn = 0.50 in the time domain. Then, a two degree-of-freedom mathematical model, in which pitch and heave motions are coupled with the approximation of convolution integrals is solved to obtain the uncontrolled motions and accelerations of the ship. Finally, considering the physical amplitude and rate limitations of the active fin mechanism, an MPC design is proposed to obtain a practically applicable state- feedback control law for attenuating vertical motion of a passenger ship. The performance of the MPC is also compared with an elipsoid based H infinity controller. An extensive amount of simulation studies are presented at the end to illustrate the effectiveness of the proposed approach.
Original languageEnglish
Article number106100
JournalOcean Engineering
Volume186
Early online date1 Jun 2019
DOIs
Publication statusPublished - Aug 2019

Fingerprint

Motion control
Ships
Controllers
State feedback
Convolution
Feedback control
Actuators
Mathematical models
Control systems

Keywords

  • vertical motion control
  • Model Predictive Controller
  • passenger ship

Cite this

Kucukdemiral, Ibrahim Beklan ; Cakici, Ferdi ; Yazici, Hakan. / A model predictive vertical motion control of a passenger ship. In: Ocean Engineering. 2019 ; Vol. 186.
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A model predictive vertical motion control of a passenger ship. / Kucukdemiral, Ibrahim Beklan; Cakici, Ferdi; Yazici, Hakan.

In: Ocean Engineering, Vol. 186, 106100, 08.2019.

Research output: Contribution to journalArticle

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AU - Kucukdemiral, Ibrahim Beklan

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AU - Yazici, Hakan

N1 - Acceptance attached to Pure record AAM: query to author re version (notes 'preprint' and has letter at the start etc) ^Author confirmed version is AAM. Removed letters etc. at start of file and re-uploaded. ET 6/6/19 AAM: 12m embargo (Elsevier)

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AB - In this study, the design problem of a Model Predictive Controller (MPC) for attenuation of vertical motions of a passenger ship which is subject to irregular wave excitations is investigated. The proposed design considers actuator amplitude and rate saturation phenomenon. The motion control system of the ship utilises a pair of active stabilizing fins mounted to the head and tail. First, irregular long crested head waves are implemented by a well-established randomization theory in order to find heave force and pitch moment at Fn = 0.40 and Fn = 0.50 in the time domain. Then, a two degree-of-freedom mathematical model, in which pitch and heave motions are coupled with the approximation of convolution integrals is solved to obtain the uncontrolled motions and accelerations of the ship. Finally, considering the physical amplitude and rate limitations of the active fin mechanism, an MPC design is proposed to obtain a practically applicable state- feedback control law for attenuating vertical motion of a passenger ship. The performance of the MPC is also compared with an elipsoid based H infinity controller. An extensive amount of simulation studies are presented at the end to illustrate the effectiveness of the proposed approach.

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