EKF-DRNN autopilot for VLCC heading hybrid control

2021 ◽  
pp. 014233122110217
Author(s):  
Mengwei Chen ◽  
Guichen Zhang
Keyword(s):  
Hybrid Control ◽  
Evaluation Criteria ◽  
Weather Conditions ◽  
Fuel Saving ◽  
Navigation Data ◽  
Hybrid Controller ◽  
Uncertain Dynamics ◽  
Heading Control ◽  
Turning Test ◽  
Rudder Angle

An online Extended Kalman Filter (EKF)-Dynamic Recurrent Neural Network (DRNN) autopilot implementation strategy for Very Large Crude Carrier (VLCC) heading hybrid control with uncertain dynamics is designed in this paper. The autopilot scheme is based on a DRNN control model, which learns VLCC dynamic characteristics, while the VLCC heading control is estimated by the EKF to minimize squared course error. The online EKF-DRNN autopilot provides optimal control on the basis of fuel-saving evaluation criteria using the heading deviation and rudder angle. Therefore, the autopilot output is guaranteed to converge to the desired VLCC trajectory asymptotically. The proposed strategy is evaluated by applying it to VLCC Yuan Kun Yang from COSCO Shipping, and works excellently under different loads, speed and weather conditions. The VLCC heading hybrid controller is also assessed by ‘Z’ manoeuvring and turning test, and the superiority of the online EKF-DRNN autopilot is demonstrated. The remote online monitoring of Yuan Kun Yang’s main navigation data shows that it improved fuel-saving properties despite worsening weather conditions causing increased yawing.

scholarly journals Design and Simulation of Eight-Rotor Unmanned Aerial Vehicle Based on Hybrid Control System

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Xueqiang Shen ◽  
Jiwei Fan ◽  
Haiqing Wang
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Hybrid Control ◽  
Dynamic Performance ◽  
System Response ◽  
Hybrid Controller ◽  
Aerial Vehicle ◽  
Switching Method ◽  
Hybrid Control System

In order to control the position and attitude of unmanned aerial vehicle (UAV) better in different environments, this study proposed a hybrid control system with backstepping and PID method for eight-rotor UAV in different flight conditions and designed a switching method based on altitude and attitude angle of UAV. The switched process of hybrid controller while UAV taking off, landing, and disturbance under the gust is verified in MATLAB/Simulink. A set of appropriate controllers always matches to the flight of UAV in different circumstances, which can speed up the system response and reduce the steady-state error to improve stability. The simulation results show that the hybrid control system can suppress the drift efficiently under gusts, enhance the dynamic performance and stability of the system, and meet the position and attitude of flight control requirements.

Visualization of Relative Wind Profiles in Relation to Actual Weather Conditions of Ship Routes

2017 ◽  
Author(s):  
Lokukaluge P. Perera ◽  
Brage Mo ◽  
Matthias P. Nowak
Keyword(s):  
Large Scale ◽  
Wind Profile ◽  
Weather Conditions ◽  
Data Sets ◽  
Navigation Data ◽  
External Data ◽  
Wind Profiles ◽  
Tools And Techniques ◽  
Ship Performance ◽  
Relative Wind

Ship performance and navigation data are collected by vessels that are equipped with various supervisory control and data acquisition systems (SCADA). Such information is collected as large-scale data sets, therefore various analysis tools and techniques are required to extract useful information from the same. The extracted information on ship performance and navigation conditions can be used to implement energy efficiency and emission control applications (i.e. weather routing type applications) on these vessels. Hence, this study proposes to develop data visualizing methods in order to extract ship performance and navigation information from the respective data sets in relation to weather conditions. The relative wind (i.e. apparent wind) profile (i.e. wind speed and direction) collected by onboard sensors and absolute weather conditions, which are extracted from external data sources by using position and time information a selected vessel (i.e. from the recorded ship routes), are considered. Hence, the relative wind profile of the vessel is compared with actual weather conditions to visualize ship performance and navigation parameters relationships, as the main contribution. It is believed that such relationships can be used to develop appropriate mathematical models to predict ship performance and navigation conditions under various weather conditions.

Design and Application of Large Torque Electrical Load Simulator

2013 ◽  
Vol 427-429 ◽  
pp. 660-663
Author(s):  
Zhi Qiang Wei
Keyword(s):  
Mathematical Model ◽  
High Precision ◽  
Hybrid Control ◽  
Electrical Load ◽  
Practical Application ◽  
Compensation Control ◽  
Torque Load ◽  
Load Simulator ◽  
Surplus Torque ◽  
Rudder Angle

In order to meet the testing requirement of positive and reverse operation large torque load for new rudder, an electrical load simulator is designed. The system mathematical model is established and the feedforward compensation control of torque and rudder angle is adopted to restrain the surplus torque according to the principle of invariance. The high precision large torque load under positive and reverse operation for rudder is realized by torque and position hybrid control. The practical application shows that the proposed method can effectively restrain surplus torque and the system meets the high precision torque load under positive and reverse operation for rudder very well.

scholarly journals HYBRID CONTROL SYSTEM IN BIONIC LEG USING MYOWARE SENSOR

2021 ◽  
Vol 56 (4) ◽  
pp. 104-116
Author(s):  
W. Widhiada ◽  
M.A. Parameswara ◽  
I.G.N.N. Santhiarsa ◽  
I.N. Budiarsa ◽  
I.M.G. Karohika ◽  
...  
Keyword(s):  
Control System ◽  
Steady State ◽  
Hybrid Control ◽  
Persons With Disabilities ◽  
Hybrid Controller ◽  
Innovation Product ◽  
Programming Software ◽  
Hybrid Control System ◽  
System Time ◽  
State Error

A bionic robot leg (BRL) is a contrivance used to supersede a loss component of the lower limb due to amputation or congenital disability. Hybrid control of BRL is opted to obtain the maximum performance of BRL equipped with precise forms of kineticism and expeditious response by truncating the error and maximum overshoot and reducing time settle. This research aims to create a BRL innovation product for persons with disabilities at the Bali Puspadi Foundation. The novelty of this BRL is the implementation of the algorithm as outlined in the hybrid control system in the Arduino support package. The BRL utilizes a MyoWare sensor and an Arduino Mega 2560 microcontroller equipped with Matlab/Simulink R2020a programming software. The sensor is utilized to read the angular movement of the DC motor between 0 - 60° degrees and vice versa, following the concept of the gate cycle. The results obtained from the hybrid control simulation are 0.0713% on maximum overshoot, 0.0415% on steady-state error, and 1.292s on system time settle. Furthermore, the results obtained from the hybrid controller experiment are 0.627% on maximum overshoot, 0.257% on steady-state error, and 0.8s on system time settle.

Development of a FPSO Motion Simulator

2015 ◽  
Author(s):  
Dexin Zhan ◽  
Worakanok Thanyamanta ◽  
Jason McDonald ◽  
David Molyneux
Keyword(s):  
Control System ◽  
Wind Waves ◽  
Line Tension ◽  
Weather Conditions ◽  
Mooring Line ◽  
Restoring Force ◽  
3 Dimensional ◽  
Motion Simulator ◽  
Heading Control ◽  
Time Domain Response

This paper presents the development of a motion simulator for a moored FPSO, which includes numerical prediction of the FPSO motions in wind, waves and current. It also presents the resulting mooring line tension, 3-dimensional visualization of the FPSO motion, and summary analysis of the resulting motion parameters. The FPSO motion in waves was simulated using an in-house seakeeping code, MOTSIM. A spread mooring line routine, based on catenary theory, was developed and added to MOTSIM to calculate the restoring force of each mooring line. The visualizer (or animator) was developed in-house from open source software, including Ogre, Hydrax and Skyx. It can playback a 3-dimensional view of the simulation (above and below water). The user can view the results in a movie-like format, and change viewing position during the play-back. The user can also run a new simulation from the animator by inputting the required parameters. The program for analyzing the time dependent responses generated by MOTSIM was developed as a stand-alone program using MATLAB. The analyzer can conduct statistical analysis of time-domain response signals. A heading control system and a DP control system were also developed in the simulator and can be activated to help control the FPSO motion if required. A validation of the ship motion prediction and mooring tension was conducted against model experiments using 100-year return period environments with different combinations of wave, wind and current directions. The simulator was developed as a forecasting tool to help operators predict platform performance based of forecast weather conditions.

scholarly journals Deep learning and fuzzy logic to implement a hybrid wind turbine pitch control

2021 ◽  
Author(s):  
J. Enrique Sierra-Garcia ◽  
Matilde Santos
Keyword(s):  
Fuzzy Logic ◽  
Deep Learning ◽  
Wind Turbines ◽  
Fuzzy Controller ◽  
Complex Dynamics ◽  
Hybrid Control ◽  
Weather Conditions ◽  
Offshore Wind ◽  
Wind Speeds ◽  
Floating Offshore Wind Turbines

AbstractThis work focuses on the control of the pitch angle of wind turbines. This is not an easy task due to the nonlinearity, the complex dynamics, and the coupling between the variables of these renewable energy systems. This control is even harder for floating offshore wind turbines, as they are subjected to extreme weather conditions and the disturbances of the waves. To solve it, we propose a hybrid system that combines fuzzy logic and deep learning. Deep learning techniques are used to estimate the current wind and to forecast the future wind. Estimation and forecasting are combined to obtain the effective wind which feeds the fuzzy controller. Simulation results show how including the effective wind improves the performance of the intelligent controller for different disturbances. For low and medium wind speeds, an improvement of 21% is obtained respect to the PID controller, and 7% respect to the standard fuzzy controller. In addition, an intensive analysis has been carried out on the influence of the deep learning configuration parameters in the training of the hybrid control system. It is shown how increasing the number of hidden units improves the training. However, increasing the number of cells while keeping the total number of hidden units decelerates the training.

Hybrid Control of a Pneumatic Gantry Robot for Contour Tracking: Proportional Pressure Versus Proportional Flow Control

2009 ◽  
Author(s):  
Mohammed Abu-Mallouh ◽  
Brian Surgenor ◽  
Sasan Taghizadeh
Keyword(s):  
Flow Control ◽  
Coulomb Friction ◽  
Hybrid Control ◽  
Tangential Velocity ◽  
Pressure Control ◽  
Contour Tracking ◽  
Hybrid Controller ◽  
Simulation Results ◽  
Gantry Robot ◽  
Proportional Flow

The application of a pneumatic gantry robot to contour tracking is examined. A hybrid controller is structured to control the contact force and the tangential velocity, simultaneously. In a previous study, experimental contour tracking results for the robot were obtained with electronic proportional pressure control (PPC) valves. The results demonstrated the potential of pneumatic actuation for contour tracking applications. In another study it was found that improvement in performance was limited by system lag and Coulomb friction. A neural network (NN) compensator was developed to counter both effects. Simulation results demonstrated the effectiveness of the NN compensator. Although improvement in performance with NN compensation was significant, this was offset by the requirement for substantive design effort. This paper shows experimentally that equally significant improvement can be achieved by switching from PPC valves to proportional flow control (PFC) valves. The PFC approach requires less design effort.

A Comparative Study of the Control Strategies for Pure Concentrated Solar Power Micro Gas Turbines

2017 ◽  
Author(s):  
M. Ghavami ◽  
J. Alzaili ◽  
A. I. Sayma
Keyword(s):  
Power Output ◽  
Gas Turbines ◽  
Hybrid Control ◽  
Control Strategies ◽  
Evaluation Criteria ◽  
Solar Irradiation ◽  
Additional Degree ◽  
Wide Range ◽  
Power Regulation ◽  
Funded Project

The concept of combining small micro gas turbines with solar dish concentrator is being developed by the EU funded project OMSoP [1] to benefit from the advantages of higher efficiency, power density and reliability. This paper focuses on small units which are only powered by the solar irradiation and aims to identify suitable means of control that would minimize power output variations and achieve maximum annual generated electricity. Three different strategies have been proposed and studied in this work: power regulation control which is based on variation of the load to achieve maximum permissible power for any particular value of insolation, recuperation control which is a novel idea to partially by-pass the recuperator and use it as an additional degree of freedom in the control scheme and a hybrid control strategy which combines the first two methods. The evaluation criteria of these strategies are based on the annual generated electricity, rated generated power, solar-to-electrical efficiency and practical considerations. The performance of a 5kWe system has been calculated and compared when each of the above control strategies are applied. Quantitative and qualitative comparisons show that the recuperation control and combined methods can provide constant power output for a wide range of solar irradiation, but at the expense of reduced overall performance and additional cost and complexity. The power regulation strategy provides maximum generated electricity, but it is not suitable when the generated power by the system requires to follow the variations of the load from the consumer side.

scholarly journals Bifurcation and Hybrid Control for A Simple Hopfield Neural Networks with Delays

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Zisen Mao ◽  
Hao Wang ◽  
Dandan Xu ◽  
Zhoujin Cui
Keyword(s):  
Neural Network ◽  
Hopf Bifurcation ◽  
Control Strategy ◽  
State Feedback ◽  
Hybrid Control ◽  
Hopfield Neural Network ◽  
Parameter Perturbation ◽  
Hybrid Controller ◽  
Simulation Results ◽  
Delayed State Feedback

A detailed analysis on the Hopf bifurcation of a delayed Hopfield neural network is given. Moreover, a new hybrid control strategy is proposed, in which time-delayed state feedback and parameter perturbation are used to control the Hopf bifurcation of the model. Numerical simulation results confirm that the new hybrid controller using time delay is efficient in controlling Hopf bifurcation.

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