Some references about Ship or marine Vehicles Control

Design of a multivariable robust controller to decrease the motion sickness incidence in fast ferries

J. Aranda, J.M. de la Cruz, J.M. Díaz

Control Engineering Practice . Vol 13/8.. 2005. Pp: 985-999. 

This work provides one of the first contributions in the field of the design of a multivariable robust controller with QFT methodology for the reduction of motion sickness incidence on a high-speed ferry. Motion sickness is caused by vertical accelerations associated with the heave and pitch motions induced by waves, it is therefore a regulation problem of a highly perturbed system. The design regulator is validated experimentally in sea behaviour trials with a scaled down 1/25 replica of a high-speed ferry.

Interactive computer-aided control design using quantitative feedback theory: the problem of vertical movement stabilization on a high-speed ferry

J. M. Díaz, S. Dormido and J. Aranda

International Journal of Control . Vol. 78, No. 11, 20 July 2005, 813–825 ( full text )

In a first approximation, the vertical acceleration associated with pitch motion can be considered as the main cause of motion sickness, which is without a doubt one of the most unpleasant disadvantages of maritime transport. The reduction of motion sickness can be stated as a monovariable regulation problem of a highly perturbed system. This work presents the design of a monovariable robust controller with Quantitative Feedback Theory for reducing the vertical movement on a high-speed ferry. The different stages of QFT methodology have been done with the help of QFTIT. This is a free software tool that is characterised by its ease of use and interactive nature. The designed regulator is validated experimentally in sea behaviour trials with a scaled down replica 1/25 the size of a high-speed ferry. The designed regulator is also compared with a gain-scheduling scheme using a PD controller.

Improving the comfort of a fast ferry

JM de la Cruz, J. Aranda, José M. Giron-Sierra, Francisco Velasco, Segundo Esteban, Jose M. Diaz, Bonifacio de Andres-Toro

IEEE Control Systems Magazine . Abril 2004. Pp: 47-60 ( pdf )

Our research focus on a specific ship navigating in head seas. Two flaps at  the transom and a T-foil near the bow will be the moving actuators. The  research comprises two main steps: first to develop a tool for control  design, in the form of a computer-based simulation, and second to use this  tool to obtain a satisfactory control. Promising results have been  attained. 

The structure of this article follows essentially the chronological  development of the research. But before a report of the research, let us consider the main aspects of  the problem to be solved: sea-sickness, sea states and motions of the ship.

Robust control for the coupling of lateral and longitudinal dynamics in high-speed crafts

Joaquín Aranda, Rocío Muñoz-Mansilla, José Manuel Díaz, S. Dormido-Canto

Praga 2005. World congress IFAC

In this work, the QFT technique was used to control a system with three degrees of freedom of coupled movement. The example is the coupling between the vertical and the horizontal dynamics of a high-speed craft. Since the angle between the heading and the seaway is different from 180 degrees, the action of the actuators for controlling each dynamic produces a coupling in the other dynamic. Firstly, controllers for the two dynamics were designed separately. Then, the actuator coupling was considered, and finally, it was shown how the controllers reduce the three coupled modes in the whole system.

QFT versus classical gain scheduling: study for a fast ferry

J. Aranda, J. M. de la Cruz, J.M. Díaz, S. Dormido Canto

B’02 IFAC World congreso 2002
Proceedings of the 15th IFAC World Congress
by L Basenez, et al

In this paper a comparative study of two different control strategies is done: Gain scheduling with classic controllers (PD and second order filter) versus QFT. Both of them are used to decrease motion sickness in a high speed ferry produced by the vertical acceleration associated with heave and pitch motion.

The problem of the coupling of the vertical movement control with roll movement in fast ferries

Joaquín Aranda, Rocío Muñoz-Mansilla, José Manuel Díaz

CAMS 2004 IFAC Control Applications in Marine Systems. Ancona July 7-9. Pp. 339-344
Control Applications in Marine Systems 2004: A Proceedings Volume From the IFAC Conference, Ancoma, Italy, 7-9 July 2004 (Ipv - Ifac Proceedings Volume)
by R. Katebi (Editor), S. Longhi (Editor)

Previous researches have studied the attenuation of heaving and pitching motion in fast ferries. One observed problem that appears in these cases is the fact that actuators action (for instance, asymmetries T-foil), waves incidence with angle, and the control action itself cause a coupling with roll movement, and therefore an increasing in the rolling vertical component. Roll motion can be less relevant than the damped longitudinal movement, but it is significant and, in fact, it can result in unpleasant effects to passengers. In this work an analysis and design of a roll control have been carried out. 

Selection and tuning of controllers, by evolutionary algorithms: application to fast ferries control

M. Parrilla Sánchez, J. Aranda Almansa and J.M. Díaz Martínez

CAMS 2004 IFAC Control Applications in Marine Systems. Ancona July 7-9. Pp. 351-356.
Control Applications in Marine Systems 2004: A Proceedings Volume From the IFAC Conference, Ancoma, Italy, 7-9 July 2004 (Ipv - Ifac Proceedings Volume)
by R. Katebi (Editor), S. Longhi (Editor)

Evolutionary algorithms have been shown very efficient tuning controllers, whose structure has been previously established. In this work, a step forward in the automation of the controllers design process will be tried, an algorithm is implemented which is able to select the appropriate controller structure and to tune it. By means of this procedure, a controller to reduce the motion sickness incidence on a high-speed ship, will be designed. The algorithm will be implemented using parallelization techniques. 

A research on motion smoothing of fast ferries

De la Cruz, J.M, Perez de Lucas, P., Aranda, J., Giron-Sierra, J.M., Velasco, F., Maron, A.

IFAC Conference Control Applications in Marine Sytems

2001 University of Strathclyde Glasgow, Scotland, UK
Control Applications in Marine Systems 2001 (IFAC Proceedings Volumes)
by R. Katebi

This paper is about a research on the use of active appendages to smooth the motions of fast ferries. According to BAZAN specifications, the research focused on a fast ferry with a T-foil and transom flaps. A collaboration of three research groups, with the experimental support of CEHIPAR was established to accomplish the objectives. The research was scheduled as two main steps. A first step of control-oriented modelling has successfully been achieved. The second step is dedicated to control design and experimental evaluation, seeking for the best solution. First experimental results confirm good expectations with the use of the active controlled appendages. This paper describes the main aspects of the research: the problem to be solved, the methodology and fulfilment of the research project, and the most relevant results obtained.

Decreasing of the motion sickness incidence by a multivariable classic control for a high speed ferry

J. Aranda, J.M. Díaz, P. Ruipérez, T.M. Rueda, E. López

IFAC Conference Control Applications in Marine Sytems 2001 University of Strathclyde Glasgow, Scotland, UK
Control Applications in Marine Systems 2001 (IFAC Proceedings Volumes)
by R. Katebi

The decreasing of the motion sickness in a high speed ferry produces a greater passenger’s comfort and safety of the vehicle. The paper presents a comparative study of the decreasing of the motion sickness incidence in a high speed ferry using different multivariable classic controllers (PD, first order filter and second order filter). The tuning of the controllers is made solving a non-linear optimization problem. The tuning method uses first a genetic algorithm and then a classic non-linear optimization algorithm.