해양환경안전학회지 (Journal of the Korean Society of Marine Environment & Safety)

  • 제24권7호
  • /
  • Pages.953-959
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  • 2018
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  • 1229-3431(pISSN)
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  • 2287-3341(eISSN)
해양환경안전학회 (The Korean Society of Marine Environment and safety)
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슈퍼트위스팅 슬라이딩모드를 이용한 선박계류시스템의 동적제어

Sliding Mode Control with Super-Twisting Algorithm for Surge Oscillation of Mooring Vessel System

  • 이상도 (한국해양대학교 대학원) ;
  • 이보경 (한국이네비정보기술(주)) ;
  • 유삼상 (한국해양대학교 기계공학부)
  • Lee, Sang-Do (Graduate School of Korea Maritime and Ocean University) ;
  • Lee, Bo-Kyeong (Korea e-Navi Information Technology Co. LTd.) ;
  • You, Sam-Sang (Division of Mechanical Engineering, Korea Maritime and Ocean University)
  • 투고 : 2018.10.05
  • 심사 : 2018.12.28
  • 발행 : 2018.12.31
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⟨ 이전 논문 다음 논문 ⟩

초록

본 논문에서는 바람, 파도, 조류 등의 큰 외란조건에서 선박계류시스템의 계류안정성 확보를 위한 동적제어기 설계를 연구하였다. 선박계류시스템의 비선형 동요를 억제하기 위해 슈퍼트위스팅 알고리즘(STA)을 포함한 슬라이딩 모드 제어(SMC) 기법이 적용되었다. 외란이나 파라미터의 불확실성에 대한 강인성의 장점에도 불구하고, 채터링은 슬라이딩 모드 제어기를 적용하는데 주요 단점이 되고 있다. 1차계 SMC는 정확히 제어 목표치에 수렴 하도록 정밀한 제어는 가능하나, 채터링과 같은 파괴적인 현상과 연계되어 적용에 주요한 장애가 된다. 대신에, STA는 큰 외란에도 불구하고 비교적 높은 정확도를 보이며 채터링 현상을 완전히 제거한다. 1차계 슬라이딩 모드 제어기의 채터링 문제를 피할 수 있는 STA기반의 SMC는 비선형 계류시스템의 동적제어를 위한 아주 효과적인 수단으로 판단된다. 아울러, STA로 제어된 선박계류시스템의 위치오차 궤적은 경계 구역 내에서 형성된다. 끝으로, 슬라이딩 표면과 위치궤적의 오차결과를 통해 STA의 이득제어 효과도 관측할 수 있다.

This paper deals with controlling surge oscillations of a mooring vessel system under large external disturbances such as wind, waves and currents. A control synthesis based on Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA) has been applied to suppress nonlinear surge oscillations of a two-point mooring system. Despite the advantages of robustness against parameter uncertainties and disturbances for SMC, chattering is the main drawback for implementing sliding mode controllers. First-order SMC shows convergence within the desired level of accuracy, in which chattering is the main obstacle related to the destructive phenomenon. Alternatively, STA completely eliminates chattering phenomenon with high accuracy even for large disturbances. SMC based on STA is an effective tool for the motion control of a nonlinear mooring system because it avoids the chattering problems of a first-order sliding mode controller. In addition, the error trajectories of controlled mooring systems implemented by means of STA form in the bounded region. Finally, the control gain effect of STA can be observed in sliding surface and position trajectory errors.

키워드

참고문헌

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피인용 문헌

  1. Adaptive Sliding Mode Control Synthesis of Maritime Autonomous Surface Ship vol.25, pp.3, 2018, https://doi.org/10.7837/kosomes.2019.25.3.306
  2. Active Stabilization for Surge Motion of Moored Vessel in Irregular Head Waves vol.26, pp.5, 2020, https://doi.org/10.7837/kosomes.2020.26.5.437
  3. Robust Temperature Control of a Variable-Speed Refrigeration System Based on Sliding Mode Control with Optimal Parameters Derived Using the Genetic Algorithm vol.14, pp.19, 2018, https://doi.org/10.3390/en14196321