Design methodology based on H∞ control theory for marine propulsion system with bumpless transfer function

In this paper we propose a control system design methodology which has two main objectives: the first one is to achieve control system specifications for a local H∞ controller designed for a given operation condition, and the second objective is to provide a procedure for bumpless transfer (BLT) when the controller is switched to another one, due to change in the operation condition, or when the controller is retuned by a plant operator. For that, the design procedure calculates a feedback H-controller (FB-HC) and an associated bump-less transfer H-controller (BLT-HC). The method is implemented in an auto-tuning procedure, where both pretuning controllers (FB-HC and BLT-HC) are obtained in a systematic manner. Controllers fine-tuning can be carried out by a plant operator using two tuning parameters and several tuning rules. Our design methodology is applied to a marine propulsion system with diesel engine used as propeller prime-mover. Due to different operation regimens of ship propulsion, several linear controllers are designed for different operating points, switching (with bumpless-transfer) between them when is necessary; which enables the system to be controlled satisfactorily within the whole of its operating range. Satisfactory results are obtained by simulations with the nonlinear model of a merchant ship, and our hardware in the loop simulation (HILS) environment is described.

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