A Winch Reference Control System for Semi-Pelagic Triple Trawling: With Full-Scale Sea Trials

2017 ◽  
Author(s):  
Joakim Haugen ◽  
Eduardo Grimaldo ◽  
Svein H. Gjøsund
Keyword(s):  
Control System ◽  
Full Scale ◽  
Contact Forces ◽  
Bottom Trawling ◽  
Sea Trial ◽  
Proportional Integral ◽  
Shrimp Trawl ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Fuel Costs

Multi-rig bottom trawling can negatively impact the seabed, and the bottom contact forces contribute to the total towing resistance. Lifting the doors from the seabed can reduce some of the trawl gear’s influence on the seabed and save fuel costs. In this study we evaluated a simple reference controller designed to control a trawl door’s distance from the seabed. This was achieved by providing desired warp lengths to a controller, which then regulated the distance via a low-pressure hydraulic winch. The reference controller algorithm uses an anti-windup proportional-integral controller with saturation of winch acceleration and speed. Herein, we present results of a full-scale sea trial conducted using a triple shrimp trawl with trawl doors towed close to the seabed. Our results demonstrate the feasibility of controlling the trawl doors’ altitude above the seabed using only winch-actuated feedback.

scholarly journals Evaluation of SIPIC01 and SIPIC02 on Motor Speed Control

2018 ◽  
Vol 152 ◽  
pp. 02010
Author(s):  
Kah Kit Wong ◽  
Choon Lih Hoo ◽  
Mohd Hardie Hidayat Mohyi
Keyword(s):  
Control System ◽  
Steady State ◽  
Dynamic Performance ◽  
Pi Controller ◽  
Settling Time ◽  
Motor Speed ◽  
Proportional Integral ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Decoupling Effect

Due to its simplicity, Proportional-Integral (PI) controller still remains as the widely used controller for motor speed control system. However, PI controller exhibits windup phenomenon when the motor operates in a saturated state, which may cause degradation to the control system. In order to overcome the windup phenomenon, many researches have introduced various types of anti-windup methods such as the Conditioning Technique (CI), Tracking Back Calculation (TBC), Integral State Prediction (ISP), Steady-state Integral Proportional Integral Controller-01 (SIPIC01) and Steady-state Integral Proportional Integral Controller-02 (SIPIC02). These are anti-windup techniques with integral control switching mechanism, coupling of proportional gain, kp, and integral gain, ki. Due to the coupled kp and ki, tuning motor performance is a difficult task with short settling time without experiencing overshoot. SIPIC01 and SIPIC02 are robust anti-windup methods without a switching mechanism and exhibit decoupling feature. SIPIC01 and SIPIC02 have shown better dynamic performance compared to CI, TBC and ISP. However, SIPIC01 has not been compared to SIPIC02 in terms of their decoupling effect flexibility and dynamic performance. The decoupling effect was verified using MATLAB simulation, while the performance analysis was verified through hardware simulation and testing by using Scilab. The results obtained from the simulation showed that both SIPIC01 and SIPIC02 consist of decoupling features that allow a performance with coexistence of zero or minimum overshoot with short settling time. However, SIPIC02 consists of longer rise and settling time as compared to SIPIC01. Therefore, it can be concluded that SIPIC01 is better than SIPIC02 in term of dynamic performance.

Proportional-Integral Controller Assisted by GPI Observer for Microalgal Continuous Culture

2020 ◽  
Author(s):  
Viyils Sangregorio-Soto ◽  
Claudia L. Garzon-Castro ◽  
Gianfranco Mazzanti ◽  
Manuel Figueredo ◽  
John A. Cortes-Romero
Keyword(s):  
Continuous Culture ◽  
Proportional Integral ◽  
Integral Controller ◽  
Proportional Integral Controller

Limits of a simplified controller design based on integral plus dead time models

2018 ◽  
Vol 232 (6) ◽  
pp. 728-741 ◽  
Author(s):  
Mikuláš Huba ◽  
Igor Bélai
Keyword(s):  
Dead Time ◽  
Controller Design ◽  
Absolute Error ◽  
Higher Order ◽  
Smith Predictor ◽  
Proportional Integral ◽  
Overall Design ◽  
Error Measures ◽  
Integral Controller ◽  
Proportional Integral Controller

This article presents design and evaluation of filtered proportional–integral controllers and filtered Smith predictor–inspired constrained dead time compensators. Both are based on the integral plus dead time and on the first-order time delayed plant models. They are compared as for tuning simplicity, robustness and noise attenuation. Such a comparison, which presents a robustness test regarding the importance of the internal plant feedback approximation, may be carried out by performance measures built on deviations of the input and output transient responses from their ideal shapes. When combined with integral of absolute error measures of both solution types with the disturbance responses set as nearly equivalent, we can see that the filtered Smith predictor setpoint responses may be significantly faster than the filtered proportional–integral controller responses, more robust and, using higher-order filters, also sufficiently smooth. Furthermore, tuning of the possibly higher-order filters for filtered Smith predictor is simpler. Its overall design is more transparent and straightforward with respect to the control constraints, where the filtered Smith predictor requires some additional anti-windup measures.

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