One of the ways to reduce human influence on the control process is the development of automated and automatic control systems. Modern control systems are quite complex and require preliminary ground testing. The article considers the issues of creating Imitation Modelling Stand for such control system synthesis and testing. For this reason, a Control System Model was integrated into the local computer network of the navigation simulator NTPRO 5000. The authors of the paper developed and tested software for information exchange between the navigation simulator and the Control System Model. The authors also developed a functional module of collision avoidance with many targets for testing in a closed loop system with virtual training objects. The results showed that the developed Imitation Modelling Stand allowed developing and testing functional modules of the control systems. In comparison with the found analogues, it is easy to include in a closed simulation cycle various models of command devices, actuators, control objects, objects of training scene, weather conditions; it is universal both for solving problems of manual control and for developing and testing automatic and automated control systems; it is not highly specialised and is created at minimal costs.
The article discusses the issues of automatic control of the vessel’s movement using excessive control, which allows to organize the movement of the vessel without a drift angle, to reduce the hydrodynamic resistance and fuel consumption. Issues of reducing energy consumption and fuel economy on board, as well as related issues of reducing emissions and improving the environment are especially relevant at the present time. A brief review of literature devoted to improving the energy efficiency of ships was carried out. As a result of the analysis, it was found that the issues of improving energy efficiency are solved in various ways, for example, constructively, by reducing weight, hydrodynamic and aerodynamic drag of the hull, using a sail, creating more advanced power plants, however, the authors have not found methods and algorithms for reducing hydrodynamic drag and fuel consumption through the use of excessive control. It is concluded that the development of such systems is relevant. Mathematical, algorithmic, and software have been developed for an onboard controller simulator of a vessel’s motion control system with excessive control, the operability and efficiency of which has been verified by numerical simulation in a closed circuit with a mathematical model of the control object for various types of vessels, navigation areas and weather conditions. The experiments have confirmed the efficiency and effectiveness of the developed method, algorithmic and software, and allow us to recommend them for practical use in the development of mathematical support for vessel control systems with excessive control.
Context. There were considered the issues of improving the accuracy and reliability of automatic vessel motion control systems in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. The object of research is the process of automatic vessel motion control in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. The subject of research is a method and algorithms for improving the accuracy and reliability of automatic vessel motion control systems in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. Objective. The aim of the research is development a method and algorithms for improving the accuracy and reliability of automatic vessel motion control systems in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. Method. This goal is achieved by using in onboard controller of the automatic vessel motion control systems an observer to estimation the parameters of the state vector in the linear motion channel by measurements of linear speed and position sensors; estimation the parameters of the state vector in the angular motion channel by measurements of rotational speed and angular position sensors; continuous monitoring of the measured information by comparing it with the obtained estimations; correction estimations in the linear motion channel by measurements of linear speed and position sensors that have passed control; correction estimations in the angular motion channel by measurements of rotational speed and angular position sensors that have passed control; formation of a sensor failure in the linear motion channel (linear speed sensor or position sensor), if its measurements differ from the corresponding estimations for a greater than permissible value, to parry the failure in the linear motion channel by disconnecting the failed sensor from the observer and further estimation according to another sensor working in pairs; formation of a sensor failure in the angular motion channel (rotation speed sensor or angular position sensor), if its measurements differ from the corresponding estimations for a greater than permissible value, to parry the failure in the angular motion channel by disconnecting the failed sensor from the observer and further estimation according to another sensor working in pair; formation of an actuators failure in the linear motion channel (engine, automation or other device) if a simultaneous or sequential failure of both sensors were detected-linear speed sensor and position sensor, actuator failure alarm in the linear motion channel; formation of an actuators failure in the angular motion channel (rudders, drives, other devices) if a simultaneous or sequential failure of both sensors were detected-rotation speed sensor and angular position sensor, actuator failure alarm in the angular motion channel. This method and algorithms make it possible to i...
Context. The article discusses the issues of increasing the accuracy of automatic control of a moving object using a mathematical model of a meter and a device observing measurement errors in the on-board controller of the control system. The object of the research is the processes of automatic control of a moving object with a mathematical model of a meter and a device observing measurement errors in the on-board controller of the control system. The subject of the research is a method and algorithms for increasing the accuracy of automatic control of a moving object with a mathematical model of a meter and a device observing measurement errors in the on-board controller of the control system.Objective. The aim of research is an improving the accuracy of automatic control of a moving object.Method. This aim is achieved through the use in the on-board controller of the control system of the mathematical meter model and the observing device built on its basis, the estimation of the useful component and the systematic error, depending on the motion parameters of the controlled object, using only the useful component for control, without systematic error.Results. A method and algorithms for increasing the control accuracy of a moving object through the use in the on-board controller of a mathematical meter model and an observer of systematic measurement errors, built on its basis, have been developed. The efficiency and effectiveness of the developed method and algorithms were confirmed by mathematical modeling in the MATLAB environment of the control processes of a moving object in a closed circuit with a control system.Conclusions. The results of mathematical modeling confirmed the operability and efficiency of the proposed method and algorithms and allow them to be used for practical purposes in the development of mathematical support for high -precision automatic control systems.
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