Ship Control System Research Articles

Research on constant tension yarn transfer control technology based on AGA-PID and FOC algorithm

To solve the problems of poor real-time tension tracking, large overshoot, long adjustment time, and large tension fluctuation error that exist in the current control system for yarn feeding in the circular weft knitting machine, this paper presents an optimized and improved adaptive genetic algorithm (AGA) for adjusting the PID (Proportional Integral Derivative) parameters of the tension control part of the yarn-conveying system (AGA-PID). The algorithm is combined with the field-oriented control technology of the permanent magnet synchronous motor to design a closed-loop control strategy for the yarn-conveying system of a circular weft knitting machine. The MATLAB-Simulink simulation model was used to analyze the external tension loop-based AGA-PID controller and permanent magnet synchronous motor dual closed-loop control strategy of the yarn transport control system. The experimental verification was conducted by constructing an experimental platform that simulates the real process of yarn transportation. The outcomes of system simulations and experiments have consistently demonstrated that the AGA-PID control algorithm outperforms the GA-PID and PID control algorithms in terms of overshooting, response speed, stability, and anti-jamming ability. The yarn transport control system, which is designed to operate based on an AGA-PID control algorithm, is capable of reducing the fluctuations in tension that occur during the transportation of yarn and exhibits enhanced control accuracy, effectively stabilizing yarn tension control during the conveying process. The application of this algorithm can enhance the overall elasticity uniformity and surface flatness of knitted fabrics, thereby facilitating the realization of adjustable and controllable local elasticity in fabrics.

A nonlinear model predictive control method for ship path following in waves

ABSTRACT With the development of intelligent ships, the problem of ship path following has attracted much attention in recent years. Ship motion is inevitably affected by an external environment and thus the design of the ship control system in currents or waves, etc. has always been a challenging work. In the present work, a Nonlinear Model Predictive Control (NMPC) method is proposed for ship path following in waves. The NMPC controller can obtain the desired rudder angle of nonlinear ship system by solving an open-loop optimisation problem. The NMPC controller integrated with a Line-of-Sight (LOS) guidance is proposed and applied for a container ship which is controlled to follow two desired paths in both calm water and waves. The simulation results demonstrate the more effectiveness and greater anti-interference of the proposed NMPC method, compared with that the results by using a traditional Proportional-Derivative (PD) control method.

Application of Machine Learning in the Identification and Prediction of Maritime Accident Factors

Artificial intelligence seems to be a new point of view to classical problems that, in the past, could not be understood in depth, leaving certain gaps in each knowledge area. As an example of this, maritime accidents are one of the most recognised international problems, with clear environmental and human life consequences. From the beginning, statistical studies have shown that not only the typical sampled variables must be considered but the accidents are related to human factors that, at the same time, are related to some variables like fatigue that cannot be easily sampled. In this research work, the use of machine learning algorithms on over 300 maritime accidents is proposed to identify the relationship between human factors and the main variables. The results showed that compliance with the minimum crew members and ship length are the two most relevant variables related to each accident for the Spanish Search and Rescue (SAR) region, as well as the characteristics of the ships. These accidents could be understood as three main groups of accidents related to the general tendency to not meet the minimum number of crew members and its difference in the year of construction of the ship. Finally, it was possible to use neural networks to model accidents with sufficient accuracy (determination factor higher than 0.60), which is particularly interesting in the context of a control system for maritime transport.

Comparison and Evaluation of Learning Capabilities of Deep Learning Methods for Predicting Ship Motions

The development of intelligent ship control systems in real-world conditions relies heavily on the accurate identification and prediction of ship seakeeping and maneuvering trajectories. In this study, we comprehensively evaluate a selection of deep learning methods to assess their learning capabilities in terms of idealizing ship motion behavior in realistic operational environments. To recover real conditions, we utilize historical Automatic Identification System (AIS) data and a time domain 6 Degree of Freedom (6- DoF) grounding dynamics model to generate ship motion sequences for a Ro-Ro passenger ship operating in the Gulf of Finland. Via a rigorous evaluation process, we validate the performance of these methods using extensive data streams. The analysis includes the identification and estimation of uncertainties between two ports. The paper demonstrates the proficiency of the selected deep learning methods in capturing ship maneuvering features, their potential use in the design of ship control and intelligent decision support systems.

Преимущества интеграции автоматизированных систем управления технологическим процессом угольных шахт с системами определения местоположения

Coal mining companies, especially those involved in underground operations, are currently at different stages on their way to digitalization and face a number of challenges, which are described in the article. One group of such problems is the difficulties concerned with the coal mine dispatching control. The paper shows how a properly selected approach, i.e. the integration of various automated process control systems with positioning systems, provides a solution to these problems and offers significant advantages both regarding the industrial safety and maximizing the economic effect. Examples of such integration are given for the conveyor transport control system, for the air and mine gas control systems as well as a CCTV systems with positioning systems within the Smart Mine® complex. An assessment of the current technical basis for the implementation of this approach is given, and the advantages of using a single platform for subsystems of the multi-functional safety system and production management systems are shown.

Naval engineering and ship control special edition III

The third Naval Engineering and Ship Control special edition of the Journal of Marine Engineering and Technology aims to present cutting-edge research on naval engineering and ship control, as was presented during the International Naval Engineering Conference and Exhibition (INEC) and the International Ship Control Systems Symposium (iSCSS), held together in Delft in 2022.

Optimal control model as an approach to the synthesis of a supersonic transport control system

Optimal control model as an approach to the synthesis of a supersonic transport control system

Research on path following control of unmanned ship based on fast wave inversion disturbance compensation and preset performance

In this paper, wave inversion is innovatively applied to the path following control of unmanned ship for the first time. At the same time, the performance constraint problem and input saturation of the control system are considered, and the model uncertainty problem of the system is solved by improving the RBF algorithm. Firstly, the system identification method is used to obtain the wave information in real time and quickly based on the ship motion response under the current sea condition, and the disturbance compensation is carried out in the unmanned ship control system. Secondly, in order to ensure the safety and stability of the unmanned ship during navigation, the performance constraints of the unmanned ship path following control system are carried out. In addition, considering the external disturbance and model uncertainty, the RBF neural network control algorithm based on the predictor estimation error is designed, which greatly improves the transient performance of the controller. Finally, the stability analysis and simulation comparison test verify the correctness and feasibility of the proposed control strategy.

Man-in-the-Loop Control and Mission Planning for Unmanned Underwater Vehicles

UUVs (unmanned underwater vehicles) perform tasks in the marine environment under direction from a commander through a mother ship control system. In cases where communication is available, a UUV task re-planning system was designed to ensure task completion despite uncertain events faced by UUVs. First, the XML language standardizes the expression of UUV task elements. Second, considering the time sequence and spatial path planning requirements of human-supervised UUV control tasks, time sequence planning based on a genetic algorithm and spatial path planning based on an improved genetic algorithm were designed to plan near-optimal approximate spatial paths for control tasks. Third, uncertainties encountered during UUV task execution were classified so that the commander could adjust according to the situation or invoke the control task re-planning algorithm to re-plan. Finally, a simulation platform was built using the QT development environment to simulate human-supervised UUV control task planning and re-planning, verifying the algorithm’s design effectiveness.

Synthesis of ship systems optimal regulators based on matrix inequalities

The output and state regulators synthesis for ship control systems based on linear matrix inequalities using the CVX software package for solving optimization problems by the method of semi-definite programming is considered. Estimates parameters for regulators providing asymptotically stable systems regimes on Lyapunov inequalities solutions sets are obtained. An algorithm for controlling the ship course using a robust regulator in state feedback, followed by the use of CVX technologies to implement the minimum energy consumption control algorithm, is presented. The control vector estimation is reduced to the minimization of the L2 norm and it is performed in two stages, namely, the best mode is first determined, and then the mode under constraints is defined. The use of Lyapunov inequalities with the calculations implementation in CVX format on proprietary solvers has allowed us to obtain compact program texts and expand the set of restrictions introduced. In the algorithm for solving the boundary value problem of controlling a discrete model of an object, in contrast to existing optimization methods, a mode of transfer from the initial state to the final one with the right boundary, not necessarily equal to zero, is implemented. For a class of observable and controllable time–invariant systems, using the Krylov’s function contained in the MATLAB gallery of functions, L2‑norms to be minimized are formed. Examples of regulator calculations with a given degree of stability and optimal systems, confirming proposed solutions correctness, are given.

The bearings and distances isolines combinations of the navigational landmarks pair for the vessel fixed position determination

The issues of applying basic navigation parameters (bearing and distance), and their isolines traditionally used in navigation practice in coastal waters are studied in the paper. A new distinctive feature is the use of isolines combinations (three distance arcs, two isoazimuths, a hyperbola and an ellipse) based on measured bearings and distances to the pair of landmarks to obtain the vessel fixed positions with high precision. The traditional navigation methods (the theory of isolines, the generalized method of lines position, the method of least squares) are involved as a mathematical framework. The mathematical argumentation and the isolines characteristics of bearings and distances, their combinations (difference and sum of distances, difference of bearings) are given. The solutions of the surplus equations of the lines position under random error influence by the least squares method and the accuracy assessment of the vessel fix position by the radial error including the reduced variant to compensate the systematic errors are suggested. The principal points of the research are supported by the graphic interpretation, and the given expressions are adjusted to the practical application and navigation systems software development. The computer simulation that shows the radial error of the fixed position by seven position lines is at least two times less than by any pair of position lines has been carried out. The formalization of the proposed methods in the automatic navigation systems or in autonomous ship control systems will enable the navigator on board or at operating the vessel remotely to solve the problems of the navigation information processing in coastal and congested waters on a new level.

Моделирование и экспериментальные исследования элементов пневмоники для систем управления транспортом

The article demonstrates that specialized devices play a significant role in transportation control systems, and they are developed based on the application of pneumatic elements (pneumonics). By using fluidic and other flow-based pneumatic elements and devices, it becomes possible, in certain cases, to perform automatic control functions in the most rational manner. In certain operating conditions, this method of control is the only feasible option, for example, where electronic control systems cannot operate. The analysis of the prospects for the use of control devices based on pneumatics has led to the conclusion that it is advisable to use them in automatic control systems for certain types of transportation. This is particularly relevant for hydro- and pneumatic transport, devices for moving on an air cushion, and mechanisms with aerohydrodynamic operating fluid. Due to the specific requirements imposed on control systems, besides standard elements, non-standard elements, particularly power aerohydrodynamic pneumatic components, should be employed. It has been determined that one of the reasons for the limited use of pneumatic components in specialized transportation control systems is the challenges in developing more effective designs for power elements. The processes of flow interaction in pneumatic components are complex and not sufficiently studied. This poses a problem when selecting the optimal geometry of components to achieve improved characteristics. To achieve this, it is necessary to replace empirical methods with their elements of randomness with methods that have a more substantial justification. Currently, an effective solution to this problem is possible through the use of simulation modeling of aerohydrodynamic flows using specialized software tools. Based on simulation modeling within the ANSYS Fluent software environment, the operational processes and aerodynamic flows in pneumatic power elements have been analyzed. As a result of the modeling, elements have been developed for use in transportation control systems. The developed elements have optimized dimensional, energy-related characteristics, and operational modes. The application of pneumatic elements obtained through modeling allows for the improvement of the technical and economic characteristics of specialized transportation control systems.

Automated Control System for Transportation and Orientation of Canisters on a Conveyor

Automated Control System for Transportation and Orientation of Canisters on a Conveyor

ОСОБЛИВОСТІ ПЛАНУВАННЯ КООРДИНАТ ТРАЄКТОРНИХ ТОЧОК АВТОНОМНОГО СУДНА З УРАХУВАННЯМ НАВІГАЦІЙНИХ РИЗИКІВ

Marine autonomous surface vessels came both numerous advantages and critical dangers that must be addressed early. The accident rate of autonomous vessels during the voyage cycle has an elevated level of navigational risk and the impact of cyberattacks due to the large number of receivers and transmitters of the maneuvering parameter control system and motion control coordinates along the planned trajectory. To organize accident-free navigation, it is necessary to perform highprecision planning of path coordinates using the method of trajectory points (TP), which takes into account the geometry of the path and the characteristics of the vessel. After this, it is necessary to identify hazardous areas by engineering means, determine the type of navigational risks, and plan ways to manage their level, to prepare shore operators and automatic ship control systems for maneuvering under the conditions of risks that may occur during its use. The solution to this problem should begin with the compilation of a generalized table of navigational risks and their percentage probability, and methods that will help avoid risks. One of the modern methods of determining risks is the engineering method of managing navigational risks, which determines the frequency of occurrence of various kind of risks and allows to provide preventive methods for the safe use of autonomous vessels by managing of their level. The methods of determining main navigational risks were proposed in this research, as well as systems of planning them in order to ensure the proper control. The obtained results can be used to ensure the navigational safety of autonomous vessels and also to improve methods of navigational risks planning and management by their level in the context of autonomous vessels application. Keywords: navigation risks, engineering method, safety planning of the trajectory points, managing by the safety level of autonomous ships.

Modal synthesis of observers of state variables of ship dynamical systems

The purpose of the work is to increase the information content of ship control systems through the use of dynamic observers, which are, in essence, mathematical information sensors and allow you to fully restore the vector of state variables of the object model with high accuracy by measuring the output vector of a smaller dimension. An algorithm for the synthesis of observers based on the modal method of parametric evaluation of their model is proposed. It provides obtaining the parameters of the regulator according to the given spectra of the matrices of the state of the observed system and the object by means of the Control Toolbox of the MATLAB computing environment. The use of the modal method (subject to the conditions of observability and controllability) guarantees the stability of observers, which allows them to be used for stable and unstable observed objects and systems. The algorithm of modal synthesis of observers is suitable for increasing the information content of a wide range of ship dynamic systems and, above all, control systems for ship energy complexes and their components. These include autopilots, control systems for ship power plants and their elements, dynamic complexes of satellite and inertial navigation systems and positioning of moving objects in remote control conditions, monitoring and safety tools, identifiers, etc. It has been shown that in the conditions of digital transformation, the use of observers dramatically improves the quality and reduces the time for modeling the dynamics of ship systems and energy complexes operated under conditions of external disturbances, which makes it possible to improve the algorithms for estimating state variables of a class of autonomous objects modeled by nonlinear equations that allow the transition in the working area to quasi linear models with time-invariant parameters. The proposed algorithm is demonstrated by the example of the synthesis of a three-dimensional observer for the control system of a supertanker with deadweight of 150 thousand tons. The simulation of the control object is performed with an input signal of triangular shape, which most fully corresponds to the real control signal, and it is implemented in the form of a program compiled in MATLAB codes. The obtained values of state variables and errors of their recovery correspond to the specified speed and the required stability of the control system.

Синтез робастной системы управления транспортированием длинномерного материала на основе грамианного метода

Material transportation control systems are part of many automated technological complexes for continuous production in various industries. For the coordinated operation of the aggregated machines, it is required to ensure a given quality of control of the tension of material transportation under conditions of initial uncertainty and possible variations in the internal parameters of the ACS, primarily the inertia of rotation of the measuring roller and changes in the geometry of the deformation zone of the material, i.e., it is required to provide a significant increase in robust properties. A method for the synthesis of robust control systems with dynamic (polynomial) input-output regulators is proposed. It is based on an iterative approach, at each step of which the singular numbers of gramians of controllability and/or observability are purposefully changed, a preregulator is formed. It transforms the structure of the computational model of the object in the direction of increasing controllability and/or observability. The authors have proposed a method for the synthesis of a robust control system for the transportation of long-length material based on the Gramian method. The use of an improved model of the object makes it possible to form a basic polynomial input-output controller capable of providing and maintaining the desired quality and performance indicators within the specified limits of changing the parameters of the object and the controller, including when reducing the corrective pre-regulator. The results obtained allow us to demonstrate the high efficiency of a Gramian method for the synthesis of control systems with low sensitivity to variations in both the parameters of the control object and the controller own parameters.

Planning and control of the ship curvilinear route

The possibility of applying the traditional navigation parameters used in pilotage (bearing and distance), as well as their sum and difference for planning and controlling the ship curvilinear route in coastal waters is being investigated. Mathematical apparatus is based on the classical navigation methods such as the theory of isolines, the lines of position, the principles of route planning, as well as the approximation of the curvilinear route. The mathematical justification of the circle arcs, ellipse and hyperbola used as the approximation lines of both the ship curvilinear route and the control isolines is given. The methods for estimating the vessel approaching to the point of the beginning and end of the turn and for controlling the ship movement along the planned path by measuring the navigational parameters are proposed. The problems of the physical and mathematical feasibility of the route arising at the junction points of the straight and curvilinear parts of the ship route are recommended to be resolved on the principles of transition curves (clothoids), considering the maneuvering characteristics of the vessel. The main theses of the research are supported by the graphical interpretation while the given expressions are ready for practical application. The formalization of the proposed methods in both automatic navigation systems and autonomous ship control systems will allow the navigator on the bases of the configuration of the relative position of landmarks and the ship curvilinear route to solve the problems of processing relevant navigation information in coastal and congested waters more efficiently in conjunction with the traditional pilotage methods, which is especially important for advanced autonomous navigation.

Towards the Testing and Validation of Autonomous Ships: Design of a Variable Stability Ship Control System

Maritime autonomous surface ships (MASSs) have received increased attention in both academic research and industrial applications in the global shipping and shipbuilding industry in recent years. According to its definition, a MASS can independently operate without human interaction. This brings the problem of how to test and evaluate the capabilities of the autonomous navigation control system developed for MASS. This paper proposes the novel concept of a variable stability ship and the design of its control system. A variable stability ship consists of a model-scaled ship, a model-following controller, and a hardware and software platform to implement its functions. The variable stability ship can replicate the dynamic responses of different reference ships despite their dissimilarities in physical parameters and hydrodynamic characteristics with the design of the model-following controller. Therefore, it can be used to test the performance of different control strategies on various ship types such that the R&D costs of physical model-based tests can be reduced, as well as shortening the time spent in developing physical ship models. Preliminary simulations are carried out to show its effectiveness and applicability.

METHODOLOGICAL ASPECTS OF THE FORMATION OF QUANTITATIVE ASSESSMENTS OF SAFETY OF AUTOMATED RAIL TRANSPORT CONTROL SYSTEMS USING RISK MANAGEMENT APPROACHES

The article examines the issues of improving the methodology for identification and assessment of the limits of existing risks of technical operation and maintenance of automated railway transport control systems, determining and classifying the level of severity of the consequences of failures for the further selection of appropriate risk management methods that will be applied in the development of innovative control systems of railway infrastructure transport. To resolve the issue, it is proposed to consider the effects of external factors and means of the system itself, which are designed to reduce risk in order to comply with a given level of functional safety using a risk-oriented approach. The main functions of risk are defined: protective, analytical, innovative, regulatory. The risk management process is based on the results of risk identification and assessment in order to reduce the consequences of dangerous factors and threats, based on the results of which a structural block diagram of the process was built using the principle "as low as reasonably achievable" (ALARP). 9 stages of risk management are defined: - risk assessment of potential consequences; - decision-making regarding risk and its acceptability; - development of measures to eliminate risks or reduce them to the lowest acceptable level; - determination of risk probabilities and completion of the table of risk probabilities - categories of the probability of occurrence of dangerous factors or threats; - assessment of the severity of their consequences and completion of the risk severity table with the definition of the severity category of the consequences of dangerous factors; - determination and classification of the level of severity of the consequences of train traffic control system failures; - assessment of risk acceptability using the risk assessment matrix and determination of risk acceptability indices; - risk assessment and decision-making regarding the acceptability or unacceptability of risks. - making a decision about the need to control the assessed risk. According to the results of the study, taking into account simplifications and assumptions, it was determined that the most vulnerable elements of the control system and timely and high-quality maintenance require identification and assessment of risks. That is, using statistical data on the failure of technical equipment on the one hand and statistical data on their technical maintenance, it is possible to calculate and assess risk levels and determine and classify the level of severity of the consequences of failures and the degree of their acceptability using quantitative and qualitative methods. The obtained results will be applied to the selection of appropriate risk management methods and further improvement of automated management systems by expanding their capabilities and providing them with additional functions.

AUTOMATED SYSTEM FOR OPTIMIZING THE MOVEMENT OF URBAN PASSENGER TRANSPORT USING GIS

Abstract. This article discusses the issue related to the prospects for the introduction of an automated control system for urban passenger transport in the city of Ust-Kamenogorsk, which includes: “Management of passenger transportation by road” on the 1C: Enterprise platform; assessment of the difficulty of communication by constructing an isochron; forecasting the need for the number of buses using fuzzy logic and sets; conclusion of the result in GIS, namely in the application “OckemenBus”.The initial stage of the system includes the task of systematization and storage of information about the urban passenger transport system using the 1C: Enterprise platform. It is also possible to store calculated information on transport performance indicators. To determine the quantitative indicators of assessing the accessibility of the center, isochronograms were calculated and constructed taking into account the movements of the city's population in all ways. The calculation of the isochronogram indicates the transport problems of growing neighborhoods located on the left bank of the Irtysh River, the city of Ust-Kamenogorsk. Further, using the theory of fuzzy logic and fuzzy sets, it is possible to make changes to the UPT movement scheme using the standard interface of the geoinformation system shell.It should be noted that the proposed model for optimizing the movement of urban passenger transport using the 1C platform, the construction of an isochronogram, the theory of fuzzy logic and fuzzy sets and GIS allows you to organize the work of urban passenger transport.