Abstract
The complex marine environment and the high energy consumption of shipboard equipment pose challenges to the long-term navigation of autonomous unmanned ships. In wave-induced motion, inertial gyro antirolling technology is used to offset the energy transmitted by waves, but the massive consumption of energy is not conducive to long-term navigation of the unmanned ships. This paper attempts to exploit the wave energy transmitted by the gyro to improve the power supply of the unmanned ship. Firstly, a nonlinear coupling model of the gyro antirolling device and the unmanned ship is established. Secondly, considering various model constraints and physical constraints of the equipment, the energy evaluation objective function of nonlinear model predictive control (NMPC) is designed. In the simulation, the proposed control method can effectively extract electric energy from different waves.
Highlights
Introduction e control of Unmanned SurfaceVehicle (USV) is challenging due to the unpredictable disturbances from the complex ocean environment, the model uncertainties, and the signal tremor caused by the controller [1,2,3]
Erefore, many controllers with real-time control capabilities are introduced into the power generation control of inertial sea wave energy converter (ISWEC) equipment, which is a kind of active control for power generation equipment
In ISWEC, the electrical energy comes from the precession motion of the gyro device. e precession motion is generated by the gyroscopic effect that is produced by the rolling motion caused by the wave and the rotation of the flywheel
Summary
Vehicle (USV) is challenging due to the unpredictable disturbances from the complex ocean environment, the model uncertainties, and the signal tremor caused by the controller [1,2,3]. With the purpose of extracting energy from the ocean effectively, some researchers focus on the power generation control of inertial sea wave energy converter (ISWEC) [11,12,13,14]. Bracco et al introduced the model prediction method into the optimal control of the mooring power generation [17,18,19]. In order to study the influence of the nonlinear characteristics on the wave energy converter (WEC), Richter et al and Merigaud and Ringwood have exploited the nonlinear represented model of the WEC [20, 21]. The authors pay more attention to the power generation of WEC in mooring state
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