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Control en seis grados de libertad de ferries rápidos para mejora de la seguridad y confort

(Six degrees of freedom control of fast ferries for increase of safety and comfort)

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2002

ARANDA2002a
© IFAC **

J. Aranda , J. M. de la Cruz, J.M. Díaz, S. Dormido Canto. QFT VERSUS CLASSICAL GAIN SCHEDULING: STUDY FOR A FAST FERRY . Control 15th IFAC World Conference, 2002.

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.
Keywords: Ship Control, PD, QFT .

QFT versus control clásico de ganancia programada: estudio para un ferry rápido .

ARANDA2002b
© IEEE **

J. Aranda , J. Revilla, J.M. Díaz, P. Ruiperez. Experimental and robustness analysis of a multivariable control for vertical dynamic of a high speed craft . IEEE CCA / CACS Conference on Control Applications / Computer Aided Control Systems Design Conference, 2002.

Análisis experimental y de robustez de un controlador multivariable para la dinámica vertical de un barco de alta velocidad.

ARANDA2002c

J. Aranda , R. Muñoz, J.M. Díaz. Comparison of the Vertical Dynamic Models of a Fast Ferry with Actuators and without Actuators . 3rd International Congress on Maritime Technological Innovations and Research, Bilbao, 6-8 November 2002.

Comparacion de los modelos de la dinámica vertical de un ferry rápido con actuadores y sin actuadores.

ESTEBAN2002a
© IFAC **

S. Esteban, B. Andres-Toro, E. Besada-Portas, JM. Giron-Sierra, JM. de la Cruz. Multiobjective control of flaps and T-foil in high-speed ships. Control 15th IFAC World Conference, 2002.

Fast sea transportation of passengers must considered safety and comfort requirements. Due to waves, there are heaving and pitching motions. These motions originate sea-sickness and can have negative effects on the ship. By means of submerged actuators, vertical motions can be smoothed. This paper considers the real case of a fast ferry with a T-foil and flaps. These actuators should move to counteract the effect of each wave. This is a control problem that also has to consider cavitation and possible fatigue of the actuators’ system. In consequence there is a multiobjective optimization problem, controlling a non-linear system., A Multiobjective Genetic Algorithm is designed and applied to the case. The research obtains satisfactory results.
Keywords: marine systems, ship control, multiobjective optimisations, control applications .

Control multiobjetivo con flaps y t-foil en un buque de alta velocidad .

GIRON2002
© IFAC **

JM. Giron-Sierra, Reza Katebi, JM. de la Cruz, S. Esteban. The Control of Specific Actuators for Fast Ferry Vertical Motion Damping. IEEE CCA / CACS Conference on Control Applications / Computer Aided Control Systems Design Conference, 2002.

Control multiobjetivo con flaps y t-foil en un buque de alta velocidad .

LOPEZ2002a
© IFAC **

R. López , M. Santos , J. Aranda, S. Esteban. Neuro-Fuzzy Modelling of a Fast Ferry Vertical Motion . Control 15th IFAC World Conference, 2002.

A neuro-fuzzy system has been developed to model the behaviour of a fast ferry. The sources of the available knowledge are the physical laws of the vertical dynamics of the craft, and some experimental and simulated data of the ship performance in regular waves. The non-linear model has been obtained by applying adaptive neurofuzzy inference. It is focus on the vertical motion of the craft, both heave and pitch. The results have been proved satisfactory. Copyright © 2002 IFAC .

Modelo Neuro-Fuzzy del movimiento vertical de un ferry rápido.

LOPEZ2002b
© IFAC **

R. López , M. Santos . Neuro-Fuzzy System to Control the Fast Ferry Vertical Acceleration . Control 15th IFAC World Conference, 2002.

This paper shows the design of a neuro-fuzzy system to control the vertical motion of a TF-120 fast ferry, so that to improve the comfort of the passengers by reducing the main cause of the seasickness. The aim of this controller is to decrease the pitch acceleration by controlling the position of some actuators, varying their working angles. The controller is based on a fuzzy model of the ship behaviour. It has been simulation tested in regular and irregular waves with satisfactory results. An index, the MSI (Motion Sickness Incidence), has been evaluated to prove the efficiency of this strategy. Copyright © 2002 IFAC .

Sistema neuro-fuzzy para el control de la aceleración vertical de un ferry rápido .

LOPEZ2002c
© IEEE **

R. López , M. Santos , O. Polo, S. Esteban . Experimenting a fuzzy controller on a fast ferry . IEEE CCA / CACS Conference on Control Applications / Computer Aided Control Systems Design Conference, 2002.

Experimentando un controlador fuzzy en un ferry rápido.

GONZALEZ2002
© IEEE **

F. Gonzalez, T.M.R. Rodriguez , E.L. García, E.M. Perez. Marine Course-changing manoeuvre: A comparative study of control algorithm . IEEE CCA / CACS Conference on Control Applications / Computer Aided Control Systems Design Conference, 2002.

Maniobra de cambio de curso: Un estudio comparativo de algoritmos de control.

2001

ARANDA2001a
© IFAC **

J. Aranda , J.M. Díaz, P. Ruipérez, T.M. Rueda, E. López. Decreasing of the motion sickness incidence by a multivariable classic control for a high speed ferry. . IFAC Conference CAMS 2001 Control Aplications in Marine Systems. Glasgow.

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 decreassing of the motion sickness incidence in a high speed ferry using different multivarialbe 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 of the controllers is made solving a non-linear optimization problem. The tuning method uses first a genetic algorithm and the a classic non-linear optimization algorithm.

Disminución de índice de mareo mediante un controlador clásico multivariable en un ferry rápido.

ARANDA2001b

J. Aranda , J.M. de la Cruz, J.M. Díaz, P. Ruipérez. Identification for robust control of a fast ferry. . 5th International Symposium on Quantitative Feedback Theory and Robust Frequency Domain Methods. Public University of Navarre, Pamplona, Spain. 23 - 24 August, 2001.

The interval transfer functions from wave heigh to pitch and heave movement described in this paper are interpreted as a family of transfer functions whose coefficients are bounded by some know intervals and centred at nominal values. The nominal model is obtained by a non-linear least square algorithm of identification applied in the frequency domain. Once the nominal model was obtained, the the tightest intervals around each coefficient of the nominal transfeer functions was created while satisfying the membership and frequency response requirements. Different model validation tests was made (Bode plots and simulations). These tests whow that the uncertainty model obtained is a valid interval model and it can be used for robust control design
Keywords: Identification algorithms, optimization problem, robust performance.

Identificación para control robusto de un ferry rápido.

ARANDA2001c

J. Aranda , J.M. Díaz, P. Ruipérez, J.M. de la Cruz. Control clásico multivariable de un ferry rápido. . XXII Jornadas de Automática. Bellaterra, 12-14 de Septiembre de 2001.

Multivariable classic contro for a fast ferry.

La disminución del índice de mareo en un ferry rápido de alta velocidad repercute en un aumento del confort del pasaje y de la seguridad del navío. En este trabajo se presenta un estudio comparativo de la disminución del índice de mareo en un ferry de alta velocidad mediante la utilización de diferentes controladores clásicos multivariables (PD, red de primer orden y red de segundo orden). La sintonía de los controladores se plantea como un problema de optimización no lineal que es resuelto mediante la utilización conjunta de un algoritmo genético y un algoritmo clásico de optimización no lineal.

CRUZ2001a
© IFAC **

J.M. de la Cruz , A. Pérez de Lucas, J. Aranda , J.M. Girón-Sierra , F. Velasco, A. Marón. A research on motion smoothing of fast ferries.. IFAC Conference CAMS 2001 Control Aplications in Marine Systems. Glasgow.

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 ot 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.

Una investigación sobre el control de movimiento de ferris rápidos.

DORMIDO2001

S. Dormido, J. Aranda , J.M. Díaz, S. Dormido Canto. Interactive educational enviroment for design by QFT methodology. . 5th International Symposium on Quantitative Feedback Theory and Robust Frequency Domain Methods. Public University of Navarre, Pamplona, Spain. 23 - 24 August, 2001.

For students that begin the learning in control engineering many concepts are not very intuitive at first, due their properties are expressed in two different domains: the time and the frequency comains. Transiet behaviour, such as settling time, overshoot and the risk of saturation is analyzed typically in the time domain; while concepts like stability, noise rejection and robustness are expressed more easioly in the frequency domain. In loop shaping on Nichols chart, the designer must to have enough skill to add necessary elements (gain, poles and zeros) to the controller until the nominal loop lies near its bound. This aspect of the QFT design is usually the most difficult for students. This paper discusses an interactive environment in Sysquake for the design by QFT methodology, where the student can be see immediate the effect of modifying the parameters.
Keywords: Educational aids, QFT, Interactive, Loop shaping.

Entorno educativo interactivo para el diseño mediante la metodología de QFT.

ESTEBAN2001
© IFAC **

S. Estebán , B. de Andres, J.M. Girón-Sierra, O.R. Polo, E. Moyano. A simulation tool for a fast ferry control design. . IFAC Conference CAMS 2001 Control Aplications in Marine Systems. Glasgow.

The research considers a fast ferry with active appendages (actuators): a T-foil near the bow and transom flaps. The objective is to attenuate the ship's vertical motions. There is a problem of control design, to move the actuators in the most effective way. For anh easy and safe control study, a simulation tool has been developed using MATLAB and SIMULINK: a modular architecture results where it is easy to integrate control strategies to be analysed. Simulated experiments can be run with the tool, to see the behaviour of the important variables: vertical motions of the ship, motions of the actuators, sea-sickness incidence, etc. The paper describes the simulation tool from a functional point of view, and explains some details of the main parts of its internal structure.

Una herramienta de simulación para diseño de control de un ferry rápido.

ESTEBAN2001a

S. Estebán , J.M. Giron-Sierra, J.M. de la Cruz, B. de Andres. Predictive perturbation cancelling for seakeeping improvement of a fast ferry. European Control Conference ECC 2001. 4-7 September, 2001. Seminário de Vilar, Porto, Portugal.

Fast ships have speed limitations due to vertical motions. These motions induce sea-sickness, degrading the comfort of passengers. The research considers a fast ferry with transom flaps and a T-foil. A suitable control must be found to move these actuators to counteract the effect of waves in the most effective way. As a result of the research already done, models of the ship and the actuators have been developed. With these models, a simulation environment has been established. Different controllers can be tested on this environment. To get a reference, a study of PID control has been accomplished. Due to the characteristics of the problem, predictive control was supposed to be a better solution. A development of predictive control has been done for this case and tested on the environment. The results for 20, 30 and 40 knots shows good improvement over the PID reference.
Keywords: Ship control, marine systems, perturbation cancelling.

Cancelación predictiva de la perturbación para la mejora del mareo de un ferry rápido.

ESTEBAN2001b

S. Estebán , Bonifacio de Andres, Jesus Manuel de la Cruz, Jose Maria Giron-Sierra. Smoothing fast ferry vertical motions: a simulation enviroment for the control analysis. EUROSIM 2001 Congress SHAPING FUTURE WITH SIMULATION, Delft, The Netherlands, June 26-29, 2001.

Fast ships are of increasing importance. At high speed vertical accelerations can have negative effects.By means of submerged actuators vertical accelerations can be alleviated. A good control must be designed, to move these actuators in the most effective way. It is not easy to optimise this design. A simulation environment has been developed, for an easy study of control alternatives. The simulation has been developed in Matlab and Simulink. It provides a set of windows for the display of the ship's behaviour under several sea states. The heart of the simulation is a set of models of the ship and actuators' dynamics, including non-linear phenomena. The paper describes the simulation parts and the use of the environment for control testing.
Keywords: Ship simulation, marine systems, control systems, non-linear systems, MIMO systems.

Movimientos verticales de un ferry rápido: un entorno de simulación para el análisis del control.

J.M. Girón-Sierra , S. Estebán , B. de Andres, J.M. Díaz, J.M. Riola. Experimental study of controlled flaps and T-foil for comfort improvement of a fast ferruy. . IFAC Conference CAMS 2001 Control Aplications in Marine Systems. Glasgow.

Fast ships can suffer important negative effects from vertical accelerations. The sea.sickness of passengers is related, in a cumulative form, to these accelerations. Our research deals with the alleviation of vertical accelerations, using appendages thar can move under control to counteract each incident wave: a T-foil near the bow and transom flaps. After a long modelling work, involving experiments in a towing tank insitution, the conditions for the study of control design have been established. First experimental confirmations of the efficacy of controlled appendages have been achieved. A well tuned PD has been tested, with very promising results. The paper begins with a short recapitulation of the previous research. Next, the paper focus on the experiments with a replica with appendages.

Estudio experimental del contorl con "flaps" y "T-foil" para el aumento del comfort de un ferry rápido.

LOPEZ2001 ]

Eloy López, Teresa M. Rueda , Francisco J. Velasco, Emiliano Moyano, Jose L. Nanclares. The tuning of classical controllers for course-changing manoeuvres using genetic algorithms. 1st International Congress on Maritime Transport. 21-23 November, 2001. Barcelona.

This paper deals with a method for tuning diverse classical control structures for steering manoeuvres in a non-linear model of the ROV Zeefakkel ship. The nonlinearity of the model is seen in the considerable variation of both the parameters of this rudder course-changing orders and of the saturation of its rudder angle and speed.
This non-linear behabviour causes greater difficulty in the adjustment of the parameters of a single controller for the full range of possible changes in course. Through the use of genetic algoritms, controlles with an adequate response in different manoeuvring situations have been tuned.
Keywords: ship control, autopilots, marine systems, control systems, ship model, course-changing control, genetic algorithms.

La sintonía de controladores clásicos para maniobra de cambio de rumbo utilizando algoritmos genéticos.

O.P. Polo, S. Esteban , A. Marón, L. Grau, J.M. de la Cruz . Control code generator used for control experiments in ship scale model.. IFAC Conference CAMS 2001 Control Aplications in Marine Systems. Glasgow.

After a study of control design to get a good candidate for testing, it comes a step of experimental confirmation. The general objective of the research is to smooth the vertical motions of a fast ferry. A T-foil and transom flaps are added to a scaled-down replica of the fast ferry. These appendages can move under control. So there is a control system installed on the replica, that moves the appendages using motors, and measures the main variables of the ship and actuators motions. This control system is based on an industrial PC with electronic interfaces for motions and sensors. The control algorithm obtained by the design, must be implemented as real-time control software, to be executed on the industrial PC. Fos a fast and easy translation from design to real-time application, a new software tool has been developed. This tool generates directly C++ code, easy to compile, from a graphical description of the control. With this tool, the experiments have been achieved in short time. During experiments, several non expected circunstances appear, but this was not a problem: the tool allows for an easy improvement of the original design. The paper describes the tool and its use during experiments.

Un generador de código utilizado para experimentos de control en modelos a escala de barcos.

RUEDA2001

Teresa M. Rueda , Eloy López, Emiliano Moyano, Francisco J. Velasco, José M. Díaz, Segundo Esteban. Classical controllers for a high-speed craft. 1st International Congress on Maritime Transport. 21-23 November, 2001. Barcelona..

This article describes the tunning of various classical structures by means of genetic algoritms with the aim of reducing the vertical acceleration of a high-speed craft in order to decrease motion sickness incidence (MSI). The objective pursued in designing each one of these controllers war to obtain good performance for all speeds (20, 30 and 40 knots) and sea conditionts (4 and 5). The variable controlled was the vertical acceleration measured in the position of the "worst passenger" (WVA), which is also the cost function to be minimized in the genetic algorithm. It is found that several controllers provide a significant reduction. This study will be used in the future for comparison with robust intelligent controllers that are currently being designed.
Keywords: ship control, ship model, high speed craft, heave stabilization, pitch stabilization, genetic algorithms.

Controladores clásicos para un buque de alta velocidad.

RUEDA2001b

Teresa M. Rueda , Francisco J. Velasco, Emiliano Moyano, Eloy López. Robust QFT controller for marine course-changing control. 5th International Symposium on Quantitative Feedback Theory and Robust Frequency Domain Methods. Public University of Navarre, Pamplona, Spain. 23 - 24 August, 2001.

This paper describes the design of a robust QFT (Quantitative Feedback Theory) controller for the control of the changing of a ship's course in the presence of disturbances. A linear model is used with uncertainties in the parameters obtained from the non-linear model of the ship. The required performance specifications and the existing number of plants determine the bounds which the system must not violate. The results are compared with those obtained with a conventional PID controller by means of genetic algorytm.
Keywords: ship control, ship autopilots, marine systems, control systems, ship model, course-changing control, plant templates, bounds, QFT control.

Controlador QFT robusto para un control de cambio de rumbo.

SEPULVEDA2001

B. Sepúlveda, S. Estebán, L. Grau . Modelado y simulación de un turboferry. . Primeras Jornadas de Usuarios de EcoSim Pro . Madrid, 3&4th Mayo 2001.

Modelling and simulation of a turboferry.

Se han construido unas librerías, mediante las cuales es posible simular el comportamiento tanto en reposo como en marcha, de un ferry de alta velocidad. Además, mediante los diversos elementos desarrollados, es posible modelar y simular un gran abanico de los tipos de buques existentes hoy en día independientemente de la geometría de su casco.

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