Abstract
In this paper, a compound control scheme with linear active disturbance rejection control (LADRC) and nonlinear active disturbance rejection control (NLADRC) is designed to stabilize the speed control system of the marine engine. To deal with the high nonlinearity and the complex disturbance and noise conditions in marine engines, the advantages of both LADRC and NLADRC are employed. As the extended state observer (ESO) is affected severely by the inherent characteristics (cyclic speed fluctuation, cylinder-to-cylinder deviations, etc.) of the reciprocating engines, a cycle-detailed hybrid nonlinear engine model is adopted to analyze the impact of such characteristics. Hence, the controller can be evaluated based on the modified engine model to achieve more reliable performance. Considering the mentioned natural properties in reciprocating engines, the parameters of linear ESO (LESO), nonlinear ESO (NLESO), and the switching strategy between LADRC and NLADRC are designed. Finally, various comparative simulations are carried out to show the effectiveness of the proposed control scheme and the superiority of switching strategy. The simulation results demonstrate that the proposed control scheme has prominent control effects both under the speed tracking mode and the condition with different types and levels of load disturbance. This study also reveals that when ADRC related approaches are employed to the reciprocating engine, the impact of the inherent characteristics of such engine on the ESO should be considered well.
Highlights
Compared with the aviation, rail, and automobile transport, shipping is known as the most energy efficient and environmental friendly classical mode of transport [1]
The advantages in the mean value engine model (MVEM) are kept; the inherent speed fluctuation caused by the discrete torque generation and cyclic deviations among cylinders can be simulated without making the engine model more complex and harder to be executed in computation
By combing the nonlinear active disturbance rejection control (NLADRC) and linear active disturbance rejection control (LADRC), the total variation (TV) values in SADRC have been reduced by 13%, 8%, and 10% under the three cases, respectively
Summary
Rail, and automobile transport, shipping is known as the most energy efficient and environmental friendly classical mode of transport [1]. In [28, 29], the oscillation in speed caused by the coupling of chattering phenomenon in SMC and the inherent speed fluctuation in reciprocating engine cannot be alleviated and the oscillation of control input is apparent [27] Likewise, this is an inevitable impact for the controller based on ADRC as the control performance of ADRC is affected by noise and disturbance [17, 30]. Better control performance can be obtained when the total disturbance and noise are complicated, and their amplitudes change widely This kind of control strategy has not been tested in marine engine speed control domain which suffered from the mentioned sophisticated load disturbance, noise, and the inherent speed fluctuation.
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