scholarly journals Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control

2021 ◽  
Vol 9 (9) ◽  
pp. 1024
Author(s):  
Ru-Yi Ren ◽  
Zao-Jian Zou ◽  
Jian-Qin Wang
Keyword(s):  
Time Scale ◽  
Degrees Of Freedom ◽  
Coupling Effect ◽  
Path Following ◽  
Singular Perturbation Method ◽  
Stabilization Control ◽  
Separation Characteristic ◽  
Time Scale Decomposition ◽  
Roll Stabilization ◽  
Slow Subsystem

The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the same time. The control objectives are to let the ship to track a predefined curve path under environmental disturbances, and to reduce the roll motion at the same time. A singular perturbation method is used to decouple the whole system into two subsystems of different time scales: the slow path-following subsystem and the fast roll reduction subsystem. The coupling effect of the two subsystems is also considered in this framework of analysis. RRS control is only possible when there is the so-called bandwidth separation characteristic in the ship motion system, which requires a large bandwidth separation gap between the two subsystems. To avoid the slow subsystem being affected by the wave disturbances of high frequency and large system uncertainties, the adaptive control is introduced in the slow subsystem, while a Proportion-Differentiation (PD) control law is adopted in the fast roll reduction subsystem. Simulation results show the effectiveness and robustness of the proposed control strategy.

scholarly journals Output-Feedback Control for Path Following of Autonomous Underwater Vehicles via Singular Perturbation Technique

2021 ◽  
Author(s):  
Ming Lei ◽  
Ye Li ◽  
Shuo Pang
Keyword(s):  
Singular Perturbation ◽  
Output Feedback ◽  
Time Scale ◽  
Decomposition Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underwater Vehicles ◽  
Design Parameters ◽  
External Disturbances ◽  
Time Scale Decomposition

Abstract Autonomous underwater vehicles are needed in many applications such as underwater monitoring and surveillance, marine biology, rescue and search, undersea oil detection. In reality, the unknown external disturbances, and model uncertainties make the motion control of autonomous underwater vehicles a challenging task. With these issues, this paper presents an output-feedback singular perturbation control scheme for the path following of autonomous underwater vehicles, in term of the time scale decomposition method. As illustration, an extended state observer is first devised based on the singular perturbation theory. Then the stabilizing controller is developed by using the time scale decomposition method, in order to obtain a simple, easy-to-implement control law. And the stability analysis of stabilizing control system is conducted by constructing a composite Lyapunov function, which allows to provide mathematical bounds on the design parameters. Finally, simulation results are presented to prove the efficacy of the proposed controller for path following of autonomous underwater vehicles subject to internal and external disturbances.

scholarly journals An Enhanced Intrinsic Time-Scale Decomposition Method Based on Adaptive Lévy Noise and Its Application in Bearing Fault Diagnosis

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 617
Author(s):  
Jianpeng Ma ◽  
Shi Zhuo ◽  
Chengwei Li ◽  
Liwei Zhan ◽  
Guangzhu Zhang
Keyword(s):  
Fault Diagnosis ◽  
Time Scale ◽  
Lévy Noise ◽  
Model Parameters ◽  
Rolling Bearings ◽  
Intrinsic Time ◽  
Time Scale Decomposition ◽  
Weak Fault ◽  
Levy Noise ◽  
The Impact

When early failures in rolling bearings occur, we need to be able to extract weak fault characteristic frequencies under the influence of strong noise and then perform fault diagnosis. Therefore, a new method is proposed: complete ensemble intrinsic time-scale decomposition with adaptive Lévy noise (CEITDALN). This method solves the problem of the traditional complete ensemble intrinsic time-scale decomposition with adaptive noise (CEITDAN) method not being able to filter nonwhite noise in measured vibration signal noise. Therefore, in the method proposed in this paper, a noise model in the form of parameter-adjusted noise is used to replace traditional white noise. We used an optimization algorithm to adaptively adjust the model parameters, reducing the impact of nonwhite noise on the feature frequency extraction. The experimental results for the simulation and vibration signals of rolling bearings showed that the CEITDALN method could extract weak fault features more effectively than traditional methods.

A novel intrinsic time–scale decomposition–graph signal processing–based characteristic extraction method for rotor–stator rubbing of aeroengine

2021 ◽  
pp. 107754632098596
Author(s):  
Mingyue Yu
Keyword(s):  
Signal Processing ◽  
Autocorrelation Function ◽  
Time Scale ◽  
Energy Index ◽  
Signal Processing Algorithm ◽  
Intrinsic Time ◽  
Graph Signal Processing ◽  
Laplacian Energy ◽  
Rotational Components ◽  
Time Scale Decomposition

Intrinsic time-scale decomposition and graph signal processing are combined to effectively identify a rotor–stator rubbing fault. The vibration signal is decomposed into mutually independent rotational components, and then, the Laplacian energy index is obtained by the graph signal of the autocorrelation function of rotational components, and the signal is reconstructed by an autocorrelation function of each proper rotation (PR) component relative to smaller Laplacian energy index (less complexity). Finally, characteristics are extracted from rotor–stator rubbing faults in an aeroengine according to square demodulation spectrum of a reconstructed signal. To validate the effectiveness of the algorithm, a comparative analysis is made among traditional intrinsic time-scale decomposition algorithm, combination of intrinsic time-scale decomposition and autocorrelation function, and the proposed intrinsic time-scale decomposition–graph signal processing algorithm. Comparative result shows that the proposed intrinsic time-scale decomposition–graph signal processing algorithm is more precise and effective than the traditional intrinsic time-scale decomposition and intrinsic time-scale decomposition and autocorrelation function algorithms in extracting characteristic frequency and frequency multiplication of rotor–stator rubbing faults and can greatly reduce the number of noise components irrelevant to faults.

scholarly journals Roll Stabilization Control of Sailboats

2016 ◽  
Vol 49 (23) ◽  
pp. 552-556 ◽  
Author(s):  
Kristian L. Wille ◽  
Vahid Hassani ◽  
Florian Sprenger
Keyword(s):  
Stabilization Control ◽  
Roll Stabilization

Dither in a rolling airframe flight vehicle with a two-position actuator: An amplitude distribution approach

2016 ◽  
Vol 39 (8) ◽  
pp. 1205-1215 ◽  
Author(s):  
Bahram Mohammadi ◽  
Mohammad Reza Arvan ◽  
Yousof Koohmaskan
Keyword(s):  
High Frequency ◽  
Degrees Of Freedom ◽  
Coupling Effect ◽  
Cross Coupling ◽  
Amplitude Distribution ◽  
Feedback System ◽  
Flight Vehicle ◽  
Frequency Signal ◽  
High Frequency Signal ◽  
Minimal Error

Rolling airframe manoeuvring is a type of manoeuvre in which the missile provides continuous roll during flight. Cross-coupling between the angle of attack and sideslip in rolling airframe missiles (RAMs) yields a coning motion around the flight path. As the pitch and yaw cross-coupling effect decreases, the radius of this coning motion decreases and the accuracy of the control system increases. Two-position (on–off) actuators are used in most RAMs. The presence of a two-position actuator in a feedback system makes its characteristics non-linear. A high-frequency signal so-called dither is applied to compensate for the non-linearity effect of the actuator characteristic in the feedback system and to stabilize the coning motion. The amplitude distribution function (ADF) method in dither analysis shows that the smoothed non-linearity characteristic can be computed as the convolution of the original non-linearity and the ADF of the dither signal. According to the four-degrees-of-freedom (4-DOF) equations of RAMs in a non-rolling frame and regarding various dither signals through the ADF approach on a two-position actuator, an analytical condition for dither amplitude in coning motion stability of RAMs is derived. It was shown that the triangular signal with specified amplitude and high enough frequency led to a smoother response of two-position actuators. Finally, by applying beam-riding guidance to a RAM, the performance of dithers for decreasing the distance of the missile from the centre of the beam is validated through simulations. It is illustrated that applying the triangular dither resulted in minimal error.

scholarly journals Spin-Orbit Entanglement in Time Evolution of Radial Wave Packets in Hydrogenic Systems

2004 ◽  
Vol 11 (04) ◽  
pp. 401-409
Author(s):  
Marcin Turek ◽  
Piotr Rozmej
Keyword(s):  
Wave Packet ◽  
Time Evolution ◽  
Time Scale ◽  
Degrees Of Freedom ◽  
Wave Packets ◽  
Characteristic Time Scale ◽  
Radial Wave ◽  
Mean Values ◽  
Breathing Motion ◽  
Wave Packet Revival

Time evolution of radial wave packets built from the eigenstates of Dirac equation for a hydrogenic system is considered. Radial wave packets are constructed from the states of different n quantum numbers and the same lowest angular momentum. In general they exhibit a kind of breathing motion with dispersion and (partial) revivals. Calculations show that for some particular preparations of the wave packet one can observe interesting effects in spin motion, coming from inherent entanglement of spin and orbital degrees of freedom. These effects manifest themselves through some oscillations in the mean values of spin operators and through changes of spatial probability density carried by upper and lower components of the wave function. It is also shown that the characteristic time scale of predicted effects (called T ls ) is much smaller for radial wave packets than in other cases, reaching values comparable to (or even less than) the time scale for the wave packet revival.

scholarly journals Optimal Path-Following Guidance with Generalized Weighting Functions Based on Indirect Gauss Pseudospectral Method

2018 ◽  
Vol 2018 ◽  
pp. 1-17 ◽  
Author(s):  
Qi Chen ◽  
Xugang Wang ◽  
Jing Yang
Keyword(s):  
Degrees Of Freedom ◽  
Optimal Path ◽  
Pseudospectral Method ◽  
Path Following ◽  
Control Cost ◽  
Weighting Functions ◽  
Guidance Law ◽  
Computational Performance ◽  
Gauss Pseudospectral Method ◽  
Virtual Target

An indirect Gauss pseudospectral method based path-following guidance law is presented in this paper. A virtual target moving along the desired path with explicitly specified speed is introduced to formulate the guidance problem. By establishing a virtual target-fixed coordinate system, the path-following guidance is transformed into a terminal guidance with impact angle constraints, which is then solved by using indirect Gauss pseudospectral method. Meanwhile, the acceleration dynamics are modeled as the first-order lag to the command. Using the receding horizon technique a closed-loop guidance law, which considers generalized weighting functions (even discontinuous) of both the states and the control cost, is derived. The accuracy and effectiveness of the proposed guidance law are validated by numerical comparisons. A STM32 Nucleo board based on the ARM Cortex-M7 processor is used to evaluate the real-time computational performance of the proposed indirect Gauss pseudospectral method. Simulations for various types of desired paths are presented to show that the proposed guidance law has better performance when compared with the existing results for pure pursuit, a nonlinear guidance law, and trajectory shaping path-following guidance and provides more degrees of freedom in path-following guidance design applications.

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