Fast Ferry Smoothing Motion via Intelligent PD Controller

Abstract

A novel type of control law was adopted to reduce the vertical acceleration of a fast ferry as well as the motion sickness incidence suffered by the passengers onboard by means of a submerged T-foil. Considering the system changing characteristics under high disturbances, a model-free approach was adopted. In addition, an upgraded proportional-derivative (PD) controller with correction terms resulting from a fast-online estimation of the system dynamics was designed. The overall controller, known as intelligent PD (i-PD) controller, was tested, and the obtained results were compared with those of a classic PD controller. The controllers were also tested in a changing environment and at different operating velocities. The results confirmed the effectiveness of the i-PD controller to smooth the motions with low computational cost control schemes. Furthermore, thanks to ability of the i-PD controller to continually update the estimated dynamics of the system, it showed a better reduction in both vertical motions and the seasickness level of the passengers with the needed robustness under external disturbances and system changing parameters.

Keywords

Model-free control / Intelligent PD / Pitch motion / Ship control / T-foil / Smoothing motion

References

[1] Aranda J, Díaz J, Ruipérez P, Rueda T, López E (2001) Decreasing of the motion sickness incidence by a multivariable classic control for a high speed ferry. IFAC international conference of control applications in marine systems CAMS. Glasgow, U.K. DOI : https://doi.org/10.1016/S1474-6670(17)35095-4

[2] De la Cruz JM, Aranda J, Giron-Sierra JM, Velasco F, Esteban S, Diaz JM, De Andres-Toro B. Improving the comfort of a fast ferry. IEEE Control Syst Mag, 2004, 24(2): 47-60

[3] Esteban S, De la Cruz J M, Giron-Sierra JM, De Andres B, Diaz JM, Aranda J (2000) Fast ferry vertical acceleration reduction with active flaps and T-foil. IFAC Intl. Symp. Maneuvering and Control of Marine Craft MCMC, Aalborg, Denmark, 233–238. DOI : https://doi.org/10.1016/S1474-6670(17)37079-9

[4] Esteban S, Andrés-Toro B, Besada-Portas E, Girón-Sierra J, de la Cruz JM. Multiobjective control of flaps and t-foil in high-speed ships. IFAC Proc Vol, 2002, 35(1): 313-318

[5] Fliess M, Join C. Model-free control and intelligent pid controllers: towards a possible trivialization of nonlinear control? IFAC Proc Vol, 2009, 42(10): 1531-1550

[6] Fliess M, Join C. Model-free control. Int J Control, 2013, 86: 2228-2252

[7] Fliess M, Joinv C, Ramirez HS. Non-linear estimation is easy. Int J Model Identif Control, 2008, 4(1): 12

[8] Fliess M, Join C, RIACHY S. Revisiting some practical issues in the implementation of model-free control. IFAC Proc Vol, 2011, 44(1): 8589-8594

[9] Fossen TI (1994). Guidance and control of ocean vehicles: John Wiley & Sons Inc. DOI : https://doi.org/10.1016/0005-1098(96)82331-4

[10] O’Hanlon JF, MacCawley ME. Motion sickness incidence as a function of frequency and acceleration of vertical sinusoidal motion. J Sound Vib, 1975, 41: 521

[11] Santos M, López R, De la Cruz JM. Fuzzy control of the vertical acceleration of fast ferries. Control Eng Pract, 2005, 13(3): 305-313

[12] Ticherfatine M, Qidan Z (2016). Fast ferry vertical acceleration reduction using mixed sensitivity approach. 2016 IEEE International Conference on Mechatronics and Automation.Harbin,China. DOI : https://doi.org/10.1109/icma.2016.755884