Marine measurement and real-time control systems with case studies

Abstract Measurement, data transfer, modelling, controller systems are the main subjects of interdisciplinary area during prototyping of marine automatic control systems. Experimental parameter identification is an essential step for modelling and control system design are in question for various marine applications. The selection of variables to be measured, type of measurement sensors, type of control algorithms and controller systems, communication, signal conditioning are all important topics for parameter identification and real-time control applications in maritime engineering. The objective of this paper is to present a brief review of these important topics based on our case studies, such as ship roll motion reduction control, optimal trim control of a high speed craft, and dynamic position control of underwater vehicles. These projects involved extensive dynamic modelling, simulation, control algorithm design, real-time implementation and full-scale sea trials. In this paper, the presented methods, and the required characteristics of the marine control systems are demonstrated with the results obtained by the simulation studies and full-scale sea trials. Also, insight into the selection of hardware and software components for mechatronic applications in marine engineering is provided.

[1]  Huosheng Hu,et al.  Towards autonomous localization and mapping of AUVs: a survey , 2013 .

[2]  Sea-Moon Kim,et al.  Underwater Navigation System Based On Inertial Sensor And Doppler Velocity Log Using Indirect Feedback Kalman Filter , 2005 .

[3]  Alexander Leonessa,et al.  Laser based rangefinder for underwater applications , 2012, 2012 American Control Conference (ACC).

[4]  Aidan O'Dwyer,et al.  Handbook of PI and PID controller tuning rules , 2003 .

[5]  Lee Freitag,et al.  Autonomous Underwater Vehicle Operations Beneath Coastal Sea Ice , 2012, IEEE/ASME Transactions on Mechatronics.

[6]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[7]  Peter C. Müller,et al.  A simple improved velocity estimation for low-speed regions based on position measurements only , 2006, IEEE Transactions on Control Systems Technology.

[8]  Stephen R. Turnock,et al.  Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research , 2013 .

[9]  Metin Taylan,et al.  Application of Particle Swarm Optimized PDD2 Control for Ship Roll Motion With Active Fins , 2016, IEEE/ASME Transactions on Mechatronics.

[10]  Sajad Saeedi,et al.  AUV Navigation and Localization: A Review , 2014, IEEE Journal of Oceanic Engineering.

[11]  Robert E. Mahony,et al.  Nonlinear Complementary Filters on the Special Orthogonal Group , 2008, IEEE Transactions on Automatic Control.

[12]  Qin Zhang,et al.  On intelligent risk analysis and critical decision of underwater robotic vehicle , 2017 .

[13]  Mogens Blanke,et al.  L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft , 2012 .

[14]  Seniz Ertugrul,et al.  Modelling, Simulation and Controller Design for Hydraulically Actuated Ship Fin Stabilizer Systems , 2016 .

[15]  Shangping Ren,et al.  Comparision of FieldBus Systems CAN, TTCAN, FlexRay and LIN in Passenger Vehicles , 2009, 2009 29th IEEE International Conference on Distributed Computing Systems Workshops.

[16]  Mohieddine Jelali,et al.  Hydraulic Servo-systems: Modelling, Identification and Control , 2012 .

[17]  Raja Ariffin Raja Ghazilla,et al.  Reviews on Various Inertial Measurement Unit (IMU) Sensor Applications , 2013, SiPS 2013.

[18]  Ning Li,et al.  Design and Implementation of an AHRS Based on MEMS Sensors and Complementary Filtering , 2014 .

[19]  Philip A. Wilson,et al.  Optimal trim control of a high-speed craft by trim tabs/interceptors. Part I: pitch and surge coupled dynamic modelling using sea trial data , 2017 .

[20]  Michael G. Parsons,et al.  Effects of motion at sea on crew performance: A survey , 2002 .

[21]  F. J. Velasco,et al.  Identification for a Heading Autopilot of an Autonomous In-Scale Fast Ferry , 2013, IEEE Journal of Oceanic Engineering.

[22]  Bruno Jouvencel,et al.  Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration , 2015, Robotics Auton. Syst..

[23]  Kostas J. Kyriakopoulos,et al.  Towards semi-autonomous operation of under-actuated underwater vehicles: sensor fusion, on-line identification and visual servo control , 2011, Auton. Robots.