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指導教授：曾慶耀 學 生：陳松駿 學 號： 10167028

控 制 原 理 期中報告 Double Fuzzy Logic Control for the Ship Path Following RAMZI FRAGA, LIU SHENG The 2nd International Conference on Intelligent Control and Information Processing. 指導教授：曾慶耀 學 生：陳松駿 學 號： 10167028. 1. OUTLINE. INTRODUCTION PROBLEM FORMULATION FUZZY LOGIC CONTROL

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指導教授：曾慶耀 學 生：陳松駿 學 號： 10167028

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  1. 控 制 原 理期中報告Double Fuzzy Logic Control for the Ship Path FollowingRAMZI FRAGA, LIU SHENGThe 2nd International Conference on Intelligent Control and Information Processing 指導教授：曾慶耀 學 生：陳松駿 學 號：10167028 1

  2. OUTLINE INTRODUCTION PROBLEM FORMULATION FUZZY LOGIC CONTROL RESULTS AND DISCUSSION CONCLUSION

  3. Ⅰ.INTRODUCTION • The main problem of ships is the conventional controllers that are based on PID algorithms, and are generally set to work under specific conditions. • we present a simple method to design fuzzy controllers for underactuated ships by controlling only the rudder angle and the yaw motion of the ship. • In this paper, two fuzzy logic controllers are designed to force underactuated ships to follow a desired path, despite of the presence of environmental disturbances induced by wave, wind and ocean-current. 3

  4. Ⅱ.PROBLEM FORMULATION (1/6) The mathematical model of a ship moving in surge, sway and yaw is obtained from the motion equation of the ship moving in six degrees by neglecting motion in heave, pitch and roll (Figure 1). Figure 1. Horizontal ship motion in Earth-fixed coordinate frame

  5. Ⅱ.PROBLEM FORMULATION (2/6) (1) The rudder to yaw transfer function： Linear wave model： (2)

  6. Ⅱ.PROBLEM FORMULATION (3/6) In this work, we consider inner and outer loops to fulfillthe path following control, where the inner loop implementsthe rudder actuator controller and the outer loop implementsthe yaw motion controller.

  7. Ⅱ.PROBLEM FORMULATION (4/6) (3) Xe A.Outer loop： The error ψe and the change in error dψe are the inputsof the first fuzzy controller (FLC1). Therefore its output isthe desired rudder angle d δ . (1) (2) (3) Ye (4) (5) Figure 3. Deflection of the ship

  8. Ⅱ.PROBLEM FORMULATION (5/6) (6) B.Inner loop： The second fuzzy logic controller isimplemented to control the angular position of the rudder.

  9. Ⅱ.PROBLEM FORMULATION (6/6) The inputs of the actuator are ud , uq and the output is the ruder angle δ (orθ ,δ = Kθ ). Consequently, the second fuzzy controller (FLC2) is designed as: (7) Figure 4. a, b, c frame and d-q frame of the PMSM

  10. Ⅲ.FUZZY LOGIC CONTROL (1/3) The structure of a completefuzzy control system is composed from the following blocks: fuzzification, knowledge base, inference engine,defuzzification. The idea of this controller is justified by the two following principles: If the error is zero, the speed is also. If the error is not zero, turn very quickly to eliminate this error.

  11. Ⅲ.FUZZY LOGIC CONTROL (2/3) A. Outer loop controller(FLC1) The defuzzification laws are chosen as shown in Table I.

  12. Ⅲ.FUZZY LOGIC CONTROL (3/3) B. Inner looop controller (FLC2) The defuzzification laws are chosen as shown in Table II.

  13. Ⅳ. RESULTS AND DISCUSSION (1/4) A. Zigzag path following： Figure 5. Zigzag path following

  14. Ⅳ. RESULTS AND DISCUSSION (2/4) B. Yaw motion： Figure 6. Ship yaw motion

  15. Ⅳ. RESULTS AND DISCUSSION (3/4) C. Rudder motion： Figure 7. Rudder angle variations

  16. Ⅳ. RESULTS AND DISCUSSION (4/4) D. Sinusoidal path following： Figure 8. Sinusoidal path following

  17. Ⅴ.CONCLUSION we can observe that the twopaths (with and without disturbances) are very close, which indicates the robustness of the controllers under the perturbations. The principal role of the fuzzy logic controllers is to eliminate the need of the ship and the rudder models. The simulation results show that the proposed methodhas a fast dynamicand a strong robustnessunder thedisturbances.

  18. Thank you

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