Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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A Study on the Dynamic Positioning Control Algorithm Using Fuzzy Gain Scheduling PID Control Theory

퍼지게인 스케쥴링 PID 제어이론을 이용한 동적 위치 유지 제어기법에 관한 연구

  • Jeon, Ma-Ro (INHA University, Dept. of Naval Architecture & Ocean Engineering) ;
  • Kim, Hee-Su (INHA University, Dept. of Naval Architecture & Ocean Engineering) ;
  • Kim, Jae-Hak (INHA University, Dept. of Naval Architecture & Ocean Engineering) ;
  • Kim, Su-Jeong (INHA University, Dept. of Naval Architecture & Ocean Engineering) ;
  • Song, Soon-Seok (INHA University, Dept. of Naval Architecture & Ocean Engineering) ;
  • Kim, Sang-Hyun (INHA University, Dept. of Naval Architecture & Ocean Engineering)
  • 전마로 (인하대학교 조선해양공학과) ;
  • 김희수 (인하대학교 조선해양공학과) ;
  • 김재학 (인하대학교 조선해양공학과) ;
  • 김수정 (인하대학교 조선해양공학과) ;
  • 송순석 (인하대학교 조선해양공학과) ;
  • 김상현 (인하대학교 조선해양공학과)
  • Received : 2016.06.21
  • Accepted : 2017.02.13
  • Published : 2017.04.20
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Abstract

Many studies on dynamic positioning control algorithms using fixed feedback gains have been carried out to improve station keeping performance of dynamically positioned vessels. However, the control algorithms have disadvantages in that it can not cope with changes in environmental disturbances and response characteristics of vessels motion in real time. In this paper, the Fuzzy Gain Scheduling - PID(FGS - PID) control algorithm that can tune PID gains in real time was proposed. The FGS - PID controller that consists of fuzzy system and a PID controller uses weighted values of PID gains from fuzzy system and fixed PID gains from Ziegler - Nichols method to tune final PID gains in real time. Firstly, FGS - PID controller, control allocation algorithm, FPSO and environmental disturbances were modeled using Matlab/Simulink to evaluate station keeping performance of the proposed control algorithm. In addition, simulations that keep positions and a heading angle of vessel with wind, wave, current disturbances were carried out. From simulation results, the FGS - PID controller was confirmed to have better performances of keeping positions and a heading angle and consuming power than those of the PID controller. As a consequence, the proposed FGS - PID controller in this paper was validated to have more effectiveness to keep position and heading angle than that of PID controller.

Keywords

References

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