Multivariable PID tuning of dynamic ship positioning control systems

Martin, P.; Katebi, Reza

doi:10.1080/20464177.2005.11020190

Cited by 15 publications

(9 citation statements)

References 18 publications

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“…Tuning of multivariable PID controllers for dynamic systems such as ships has been extensively studied in [15]. In this case, the Davison method was used to derive the integral gain of the system.…”

Section: Pid Tuning Methodsmentioning

confidence: 99%

“…The nonlinear equations of motion for this system were set out in Section III, shown in equations (4) - (9), with the control inputs indicated as the combined contribution from all three tethers and . The axial tether force is regulated through the unstretched tether length defined for each tether in equation (15). Similarly, the moments on the shroud are generated by the combined tether forces in the fore and aft locations as a function of their position relative to the center of mass.…”

Section: Control Of a Lighter Than Air Systemmentioning

confidence: 99%

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Multivariable control of a lighter than air system

Samson¹,

Katebi²

2014

2014 UKACC International Conference on Control (CONTROL)

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This paper describes the control theory behind a new group of wind energy systems known as Airborne Wind Energy Systems (AWES). The control architecture of a kite system and rigid body system is explored and this is then compared to a lighter than air system developed by Altaeros Energies. The plant model of this system is described in detail and the main dynamics of the system are outlined. This paper concludes with a simulation study looking at pitch and altitude control using a multivariable PID control strategy. This was developed using the Pettinen-Koivo method and tuned on a linearized model of the Altaeros System. Results show good tracking in both altitude and pitch set-points.

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Section: Pid Tuning Methodsmentioning

confidence: 99%

Section: Control Of a Lighter Than Air Systemmentioning

confidence: 99%

Multivariable control of a lighter than air system

Samson¹,

Katebi²

2014

2014 UKACC International Conference on Control (CONTROL)

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“…A low-pass filter was combined to the PID controller to control the motion of the DP system in the 3-degrees-of-freedom (DOF) horizontal plane. PID controllers have also been used in the nonlinear PID-control approach as proposed in [6], and model free multivariable PID controller tuning method with a capability of online tuning of DP control systems [7]. The emergence of Kalman filter and optimal theories was utilized to establish more advanced control design in [8] which was adopted and further improved and extended in the works of [9][10][11][12] and the references therein.…”

Section: Introductionmentioning

confidence: 99%

Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships

2020

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Dynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship’s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controllers. In this paper, an interconnection and damping assignment-passivity based control (IDA-PBC) controller is developed for DP of surface ships. The design of the IDA-PBC controller involves a dynamic extension utilizing the coordinate transformation which adds damping to some coordinates to ensure asymptotic stability and adds integral action to enhance the robustness of the system against disturbances. The particle swarm optimization (PSO) technique is one of the the population-based optimization methods that has gained the attention of the control research communities and used to solve various engineering problems. The PSO algorithm is proposed for the optimization of the IDA-PBC controller. Numerical simulations results with comparisons illustrate the effectiveness of the new PSO-tuned dynamic IDA-PBC controller.

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“…However, most of the existing techniques do not guarantee the desired transient performances in the presence of nonlinear parameter variations and unknown external disturbances [13]. In a previous study, Martin and Katebi [14] had proposed Davison, Penttinen-Koivo, Maciejowski, and Combined method as a control tuning design for ship positioning. These controls strategies are based on PID controller which is used to control multivariable system.…”

Section: Introductionmentioning

confidence: 99%

“…By that, the required cost to run the system will be minimized as well. Realizing the simple controller design by other researchers [14][15][16], those methods were applied in this project and improved by adopting singularly perturbation method (SPM) to the controller designs by considering the dynamic matrix inverse.…”

Section: Introductionmentioning

confidence: 99%

Singularly Perturbation Method Applied To Multivariable PID Controller Design

Razali

Wahab

Balaguer

et al. 2015

Mathematical Problems in Engineering

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Proportional integral derivative (PID) controllers are commonly used in process industries due to their simple structure and high reliability. Efficient tuning is one of the relevant issues of PID controller type. The tuning process always becomes a challenging matter especially for multivariable system and to obtain the best control tuning for different time scales system. This motivates the use of singularly perturbation method into the multivariable PID (MPID) controller designs. In this work, wastewater treatment plant and Newell and Lee evaporator were considered as system case studies. Four MPID control strategies, Davison, Penttinen-Koivo, Maciejowski, and Combined methods, were applied into the systems. The singularly perturbation method based on Naidu and Jian Niu algorithms was applied into MPID control design. It was found that the singularly perturbed system obtained by Naidu method was able to maintain the system characteristic and hence was applied into the design of MPID controllers. The closed loop performance and process interactions were analyzed. It is observed that less computation time is required for singularly perturbed MPID controller compared to the conventional MPID controller. The closed loop performance shows good transient responses, low steady state error, and less process interaction when using singularly perturbed MPID controller.

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Multivariable PID tuning of dynamic ship positioning control systems

Cited by 15 publications

References 18 publications

Multivariable control of a lighter than air system

Multivariable control of a lighter than air system

Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships

Singularly Perturbation Method Applied To Multivariable PID Controller Design

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