Abstract
This study examines the course-keeping control of directionally unstable large oil tankers involving a pole in the right half plane. Treated as an unstable plant in control engineering, tankers are theoretically and experimentally investigated during the controller design process. First, the unstable plant is mirror-mapped to its corresponding stable minimum phase plant using the mirror-mapping technique, which enables an easy controller design. Then, a linear proportional-differential and a first-order filter controller is designed based on the closed-loop gain shaping algorithm, which requires only one controller parameter to be properly selected based on the system’s characteristics. Numerical simulation results confirmed that the designed controller can successfully stabilise an unstable plant subjected to external wind and wave disturbances. The controller designed with the proposed method is suitable for course-keeping control of directionally unstable large tankers. The controller design method is simple with an uncomplicated structure that can easily be implemented in engineering endeavours. Moreover, the rudder motion is small and soft.
Highlights
In the process control industry, multiple plants such as distillation columns, chemical reactors, and bioreactors, become spontaneously unstable
The controller, which is suitable for stabilizing unstable plants such as unstable large tankers, is designed using mirror mapping technique (MMT) and closed-loop gain shaping algorithm (CGSA)
We presented a concise controller design process for the course-keeping control of directionally unstable large tankers based on MMT and CGSA
Summary
This study examines the course-keeping control of directionally unstable large oil tankers involving a pole in the right half plane. Treated as an unstable plant in control engineering, tankers are theoretically and experimentally investigated during the controller design process. The unstable plant is mirror-mapped to its corresponding stable minimum phase plant using the mirror-mapping technique, which enables an easy controller design. Numerical simulation results confirmed that the designed controller can successfully stabilise an unstable plant subjected to external wind and wave disturbances. The controller designed with the proposed method is suitable for course-keeping control of directionally unstable large tankers. The controller design method is simple with an uncomplicated structure that can be implemented in engineering endeavours.
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