Design of Generalized Minimum Variance Control for Improving Ship's Steering Performance on Low Speed

Doi, Masayoshi; Nagamoto, Kazuhisa; Idenawa, Kenichi; Mori, Yuichi

doi:10.9746/sicetr.47.396

Cited by 8 publications

(1 citation statement)

References 7 publications

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“…with a higher operation level weight, the voltage supplied to the Mindstorms NXT (9 V) is exceeded. Thus, when the operational level calculated by GMVC exceeds ±9 V, GMVC with operation level limited within practically feasible 9 V was applied , and the result is shown in Fig. .…”

Section: Simulation Of Platform Position Tracking Controlmentioning

confidence: 99%

Design of Balance Control System for High Maneuverability Vehicle on Steep Sloping Ground

Doi

Fukuhara

Mori

2016

Elect Comm in Japan

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SUMMARY In recent years, forests in Japan have required thinning. However, the sustainable wood is left around there because the tremendous effort and costs would have to be expended to transport it out. Thus, cut wood has been left around there. In this study, we design a high maneuverability vehicle that has balance control in its load‐carrying platform. The vehicle can transport the sustainable wood on steep sloping ground. In this study, we detected a delay time in regard to controlling the motion of the load‐carrying platform. We used generalized minimum variance control, one form of the predictive control, to control the system.

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Section: Simulation Of Platform Position Tracking Controlmentioning

confidence: 99%

Design of Balance Control System for High Maneuverability Vehicle on Steep Sloping Ground

Doi

Fukuhara

Mori

2016

Elect Comm in Japan

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Design of steering control system maintaining ship's rotation in strong wind (Servo type generalized minimum variance control with adjusting wind effect)

Doi

2015

Transactions of the JSME (In Japanese)

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A ship is turned by steering. Then the ship is turned with constant angular velocity against the steering angle. However, the turning angular velocity is varied by blowing strong wind. A steering control system is designed to keep the constant turning angular velocity in the strong wind. First, the variation of the turning angular velocity is verified in regard of the strength and the direction of wind. Second, the ship's maneuverability is identified, which is expressed as AutoRegressive eXogeneous (ARX) model, by each steering angle. Then the angular velocity of turning is controlled by applying Generalized Minimum Variance Control (GMVC) as one of predictive controls. Finally, the servo type GMVC is arranged with adjusting the wind's effect.

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Design of Generalized Minimum Variance Control against Load-Disturbance for Time Varying System

Doi¹,

Nagamoto²,

Mori³

2014

IEEJ Trans.EIS

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The proposed GMVC can be applied to the time varying system. The GMVC has the tracking performance against the reference change and a load disturbance in time varying system.Turning performance due to ship's steering is different from each steering angle. Therefore, the turning performance due to steering is time varying system. First, this study identifies the ship's maneuverability, which is expressed as Auto-Regressive eXogeneous (ARX) model, by each steering angle. Second, time varying parameters of ARX model are verified. Finally, this study designs a control system for the time varying steering system. The angular velocity of turning is controlled by applying Generalized Minimum Variance Control (GMVC) for time varying system. Especially, GMVC is arranged the polynomial's multiply for the time varying steering system.The proposed GMVC can be applied to the ship's steering of time varying system. The GMVC can stable steer the ship when a gust of wind is received.

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Design of Generalized Minimum Variance Control for Improving Ship's Steering Performance on Low Speed

Cited by 8 publications

References 7 publications

Design of Balance Control System for High Maneuverability Vehicle on Steep Sloping Ground

Design of Balance Control System for High Maneuverability Vehicle on Steep Sloping Ground

Design of steering control system maintaining ship's rotation in strong wind (Servo type generalized minimum variance control with adjusting wind effect)

Design of Generalized Minimum Variance Control against Load-Disturbance for Time Varying System

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Design of Generalized Minimum Variance Control for Improving Ship's Steering Performance on Low Speed

Cited by 8 publications

References 7 publications

Design of Balance Control System for High Maneuverability Vehicle on Steep Sloping Ground

Design of Balance Control System for High Maneuverability Vehicle on Steep Sloping Ground

Design of steering control system maintaining ship&apos;s rotation in strong wind (Servo type generalized minimum variance control with adjusting wind effect)

Design of Generalized Minimum Variance Control against Load-Disturbance for Time Varying System

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Design of steering control system maintaining ship's rotation in strong wind (Servo type generalized minimum variance control with adjusting wind effect)