Buscar en
Revista Iberoamericana de Automática e Informática Industrial RIAI
Toda la web
Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Aplicación de técnicas de control robusto QFT a sistemas navales
Información de la revista
Vol. 9. Núm. 3.
Páginas 231-243 (Julio - Septiembre 2012)
Compartir
Compartir
Descargar PDF
Más opciones de artículo
Visitas
6731
Vol. 9. Núm. 3.
Páginas 231-243 (Julio - Septiembre 2012)
DOI: 10.1016/j.riai.2012.05.011
Open Access
Aplicación de técnicas de control robusto QFT a sistemas navales
Applications of QFT robust control techniques to marine systems
Visitas
...
R. Muñoz-Mansilla
Autor para correspondencia
rmunoz@dia.uned.es

Autor para correspondencia.
, J. Aranda, J.M. Díaz, D. Chaos
Departamento de Informática y Automática, UNED, C/Juan del Rosal, No 16, 28040, Madrid, España
Información del artículo
Resumen
Texto completo
Bibliografía
Descargar PDF
Estadísticas
Resumen

En este trabajo se realiza un análisis de diferentes metodologías de control robusto basadas en la técnica denominada Teoría de la Realimentación Cuantitativa, QFT (Quantitative Feedback Theory) para resolver diferentes problemáticas que surgen en los sistemas de control marinos. En concreto se estudia el posicionamiento dinámico de una plataforma marina fondeada, la estabilización de un buque de alta velocidad, y el seguimiento de referencia para un aerodeslizador. Estos problemas de control presentan grandes retos de diseño, dado que son sistemas no lineales, multivariables, subactuados y con grandes perturbaciones. Los diferentes tipos de diseño QFT obtenidos consiguen una implementación robusta con prevención de acoplamientos, reducción de perturbaciones ambientales, respuestas rápidas y precisión en el seguimiento, que demuestran finalmente que es una alternativa práctica y eficaz para la solución de problemas de control en vehículos navales

Palabras clave:
Control robusto
sistema no lineal
vehículo subactuado
sistema naval
diseño QFT
Abstract

In this work an analysis of the application of the Quantitative Feedback Theory (QFT) technique to different marine systems is presented. Specifically, the problems of dynamic positioning of a moored platform, stabilization of a fast ferry and the tracking control of a hovercraft are studied. This control problem presents interesting questions to deal with, since the plants are non-linear, multivariable, underactuated and subject to large disturbances due to waves.Three multivariable nonlinear problems are solved using different sequential procedures. It is shown that the QFT controllers synthesis achieve robust performance, decoupling, environment disturbance reduction, quick answers and tracking precision. Therefore, it is shown that robust techniques based on QFT methodologies result feasible and very suitable, constituting an attractive alternative for robust design of marine vehicles.

Keywords:
Nonlinear system
robust control
underactuated vehicle
control marine system
QFT design
Referencias
[Aguiar and Hespanha, 2003]
Aguiar A.P, Hespanha J.P., 2003. Position tracking of underactuated vehicles. Proc. of the 2003 American Control Conference. Denver. CO. USA.
[Amerongen van et al., 1990]
Amerongen van, J. and Klugt van der, P.G.M., Nauta Lemke van, H.R., 1990. Rudder roll stabilization for ships. Automatica. 26(4), 679-690.
[Allison et al., 2004]
Allison, J.L., Forstell, B.G., Lavis, D.R. Purnell, J., 2004. The Influence of New Technology on the Design and Manufacture of High Speed Craft. RINA International Conference on High Speed Craft.
[Andry et al., 1983]
Andry, A.N., Shapiro E.Y., Chung, J.C., 1983. Eigenstructure assignment for linear systems, IEEE Transactions on Aerospace and Electronic Systems, 5, 711-729.
[Aranda et al., 2005]
Aranda, J., Díaz, J.M., Muñoz- Mansilla, R., 2005. QFT Control of a coupled system applied to a fast ferry, Proc. of 16th IFAC World Congress. Prague.
[Baños, 2007]
Baños, A. 2007. Nonlinear quantitative feedback theory. Int. J. of Robust and Nonlinear Control, vol. 17, pp. 181-202.
[Baños and Horowitz, 2000]
Baños, A., Horowitz, I.M., 2000. QFT design of multi-loop nonlinear control systems, Int. Journal of Robust and Nonlinear Control, 10(15), 1263-1277.
[Baños and Horowitz, 2004]
Baños A., Horowitz, I.M., 2004. Nonlinear quantitative stability, Int. Journal of Robust and Nonlinear Control, 14, 289-306.
[Baños et al., 2003]
Baños, A., Yaniv, O., Montoya, Y., 2003. Non-linear QFT synthesis by local linearization. Int. Journal of Control, 79(5), 429-436.
[Basso et al., 1993]
Basso, M., Angeli, A., Genesio, R., Galanti, M., 1993. An automatic procedure for the QFT control design of a mirror interferometer. Proc. of the 2nd European Control Conference. Groningen.
[Bazán National Company, 1995]
Bazán National Company, 1995. Sea behavior tests of the Turbo Ferry TF- 120. OTI-2086-CM-1.
[Borguesani et al., 1995]
Borguesani, C., Chait Y., Yaniv, O., 1995. Quantitave Feedback Theory Toolbox-for use with Matlab. The Mathworks Inc. Natick. M.A.
[Burns, 1995]
Burns, R., 1995. The use of artificial neural networks for the intelligent optimal control of surface shop. IEEE J. Ocean Eng. 20(1), 65-72.
[Chen and Balance, 2001]
Chen, W., Balance, D.J., 2001. QFT design for uncertain non-minimum phase and unstable plants visited. Int. Journal of Control, 4(9), 957-965.
[Cirre et al., 2010]
Cirre, C., Moreno, J.C., Berenguel, M., Guzmán, J.L., 2010. Robust control of solar plants with distributed collectors. Proc. of the 9th. International Symposium on Dynamics and Control of Process Systems, Leuven, Belgium, July 5-7.
[Comasòlivas et al., 2004]
Comasòlivas, R., Escobet, T., Quevedo, J., 2004. Aplicación de la técnica de la QFT para el control activo de las perturbaciones mecánicas en un interferómetro óptico. Revista Iberoamericana de Sistemas, Cibernética e Informática, 1(1),1-6.
[Cruz de la et al., 2004]
Cruz de la J.M, Aranda, J., Girón-Sierra, J.M., Velasco, F., Esteban, S., Díaz, J.M., de Andrés-Toro, B., 2004, Improving the comfort of a fast ferry, smoothing a ship's vertical motion with the control of flaps and T-foil,IEEE Control System Magazine, 24(2), 47-60.
[Cruz de la et al., 1997]
Cruz de la J.M., Ruipérez, P. Aranda, J, 1997. An Eigenstructure Assignment Approach (2). Robust Flight Control, a design challenge. Ed. J.F. Magni, S. Bennani, J. Terlouw. LNCIS n. 224. Springer.
[Díaz et al., 2005]
Díaz J.M., Dormido S., Aranda, J. 2005. Interactive computed-aided control design using quantitative feedback theory: the problem of vertical movement stabilization on a high-speed craft. Int. Journal of Control. 78(11), 813-825.
[Djouani and Hamam, 1995]
Djouani, K., Hamam, Y., 1995. Mimimum time-energy trajectory planning for automatic ship berthing. IEEE Journal of Ocean Engineering, 20(1), 4-11.
[Egaña and Sabalza, 2006]
Egaña, I., Sabalza, X., 2006. Diseño de un controlador basado en QFT para el amortiguamiento del chatter en rectificadoras sin centros. Revista Iberoamericana de Automática e Informática Industrial. RIAI, 3(2), 90-98.
[Fossen, 1994]
Fossen, T.I., 1994. Guidance and Control of Ocean Vehicles. Chichester: John Wiley & Sons Ltd.
[Fossen and Blanke, 2000]
Fossen, T.I., Blanke, M., 2000. Nonlinear output feedback control of underwater vehicle propellers using feedback from estimated axial flow velocity. IEEE Journal of Ocean Engineering, 25, 2, 241-255.
[García-Sanz et al., 2001]
García-Sanz, M., Vital, P., Barreras, M., Huarte, A., 2001. Interactive tool for easy robust control design. IFAC Int. Workshop on internet based control educations.83-88. Madrid. Spain.
[García Sanz, 2005]
García Sanz, M., 2005. Control robusto cuantitativo QFT: historia de una idea. Revista Iberoamericana de Automática e Informática Industrial. RIAI, 2(3), 25-38.
[García Sanz and Torres, 2004]
García Sanz, M., Torres, E., 2004. Control y experimentación del aerogenerador síncrono multipolar de velocidad variable TWT1650. Revista Iberoamericana de Automática e Informática Industrial. RIAI, 1(3), 53-62.
[Horowitz, 1963]
Horowitz, I.M., 1963. Synthesis of feedback systems, Acad. Press. N.Y.
[Horowitz, 1975]
Horowitz, I.M., 1975. A synthesis theory for linear time-varying feedback systems with plant uncertainty, IEEE Transactions on Automatic Control, 1975, 20(4), 454-464.
[Horowitz, 1976]
Horowitz, I.M., 1976. Synthesis of feedback systems with nonlinear timevarying uncertain plants to satisfy quantitative performance specifications, Proc. of the IEEE, 64, 123-130.
[Horowitz, 2001]
Horowitz, I.M., 2001. Survey of Quantitative Feedback Theory (QFT). Int. Journal of Robust and Nonlinear Control, 11(10), 887-921.
[Horowitz, 1972]
Horowitz I.M., Sidi, 1972. Synthesis of feedback systems with large plant ignorance for prescribed time domain tolerances. Int. Journal of Control, 16(2), 287-309.
[Horowitz and Sidi, 1978]
Horowitz, I.M., Sidi, 1978, Optimus Synthesis of non-minimum phase feedback system with plant uncertainty, Int. Journal of Control, 27, 361-386.
[Houpis et al., 2006]
Houpis, C.H., Rassmussen, S.J., García-Sanz, M., 2006. Quantitative Feedback Theory: fundamentals and applications, 2nd Edition, CRC Taylor & Francis: Boca Ralen.
[Hu et al., 2003]
Hu, S.S., Yang, P.H., Juang, J.Y, Chang, B.C., 2003. Robust nonlinear ship course-keeping control by H∞ I/O linearization and μ-synthesis. Int. Journal of Robust and Nonlinear Control, 13, 55-70.
[Juang and Chang, 1999]
Juang, J.Y., Chang, B.C, 1999. Robust control theory applied to ship maneuvering. Proc. IEEE Conference on Decision and Control, 2186-2191.
[Kajiwara et al., 1995]
Kajiwara, H., Koterayama, W., Nakamura, M. 1995. LMI-based design of dynamic positioning control laws for a moored floating platform model. Proc. 14th SICE Kyushu Branch.Conference, 181-184.
[Karpenko and Sepehri, 2006]
Karpenko, M., Sepehri, N., 2006. QFT Synthesis of a Position Controller for a Pneumatic Actuator in the presence of Worst-Case persistent disturbances. Proc.of the American Control Conference, 3158-3163.
[Katebi et al., 1997]
Katebi, M.R., Grimble, M.J., Zhang, Y., 1997. H robust control design for dynamic ship positioning. IEE Proc. on Control Theory and Applications, 144(2), 110-120.
[Katebi et al., 2001]
Katebi, M.R., Yamamoto, I., Matsuura, M., Grimble, M.J., 2001. Robust dynamic ship positioning control system design and applications. Int. Journal of Robust and Nonlinear Control, 11, 1257-1284.
[Kerr and Jayasuriya, 2005]
Kerr, M., Jayasuriya, S., 2005. An Improved Non-Sequential MIMO QFT Design Method. American Control Conference, 2005. Portland, USA.
[McClure and Paschall, 1992]
McClure M.A., Paschall, R.N., 1992. Applying Variations of the Quantitative Feedback Technique to Unstable, Non-Minimum Phase aircraft dynamics models. Proc.of the IEEE National Aerospace and Electronic Conference, NAECON, 334-341.
[Moreno et al., 2006]
Moreno, J.C., Baños, A., y Berenguel, M., 2006, Improvements on the Computation of Boundaries in QFT, Int. Journal of Robust and Nonlinear Control, 16, 575-597.
[Muñoz-Mansilla et al., 2009]
Muñoz-Mansilla, R., Aranda, J., Díaz, J.M., Cruz, J.M., 2009. A parametric model identification of high-speed craft dynamics. Ocean Engineering, 6, 1025-1038.
[Niksefat et al., 2007]
Niksefat, N., Sepehri, N., Wu, Q., 2007. Design and experimental evaluation of a QFT contact task controller for electro-hydraulic actuators. Int. Journal of Robust and NonlinearControl, 17, 225-250.
[Ryoo et al., 2002]
Ryoo, J.R., Doh, T.Y, Chung, M.J., 2002. A QFT design of disturbance observer for the track-following control system of an optical disk drive. Advanced Motion control, 7th Intern. Workshop on.
[Strand and Sorensen, 2000]
Strand, J.P., Sorensen, A.J., 2000. Marine Positioning systems. Ocean Eng.Handbook. (El-Hawary, Ed.), 3, 163-176. CRC Press, USA.
[Sobel and Shapiro, 1985]
Sobel, K.M., Shapiro, E.Y., 1985. Eigenstructure Assignment: a tutorial. Proc. American Control Conference, Boston, 456-467.
[Tanaka et al., 2001]
Tanaka, K., Iwasaki, M., Wang, H., 2001. Switching Control of and R/C Hovercraft. Stabilization and Smooth Switching. IEEE Transactions on System, Man, and Cybernetics, 31(6), 853-863.
[Ting-Yun, 1996]
Ting-Yun, J., 1996. Control of nonholonomic systems. WS. Levine, Ed, The Control Handbook, USA, CRC Press & IEEE Press, 1359-1368.
[Wu et al., 1998]
Wu, S.F., Grimble, M.J., Breslin, S.G., 1998. Introduction to Quantitative Feedback Theory for lateral robust flight control systems design. Control Engineering Practice, 6, 805-828.
[Wu et al., 2004]
Wu, S.F., Wei, W. Grimble, M.J, 2004. Robust MIMO control-system design using eigenstructure assignment and QFT. IEE Proc. Control Theory Applications., 151(2), 198-209.
[Yamamoto, 2001]
Yamamoto, I., 2001. Robust and non-linear control of marine system. Int. Journal of Robust and Nonlinear Control, 11, 1285-1341.
[Yaniv, 1991]
Yaniv, O., 1991. Robust design of MIMO feedback systems having an uncertain non-linear plant, Int. Journal of Control, 53(6), 1283-1294.
[Yaniv, 1999]
Yaniv, O., 1999. Quantitative Feedback design of linear and nonlinear control systems, Kluwer Acad. Publishers: Norwell, Massachusetts.
[Yaniv and Horowitz, 1986]
Yaniv, O., Horowitz, I.M., 1986. A quantitative design method for MIMO linear feedback systems having uncertain plant. Int. Journal of Control, 43(2), 401-421.
[Zeidler, 1986]
Zeidler, E., 1986. Nonlinear Functional Analysis and its Applications, Springer-Verlag .N.Y.
Copyright © 2011. Elsevier España, S.L.. Todos los derechos reservados
Opciones de artículo
Herramientas
es en pt
Política de cookies Cookies policy Política de cookies
Utilizamos cookies propias y de terceros para mejorar nuestros servicios y mostrarle publicidad relacionada con sus preferencias mediante el análisis de sus hábitos de navegación. Si continua navegando, consideramos que acepta su uso. Puede cambiar la configuración u obtener más información aquí. To improve our services and products, we use "cookies" (own or third parties authorized) to show advertising related to client preferences through the analyses of navigation customer behavior. Continuing navigation will be considered as acceptance of this use. You can change the settings or obtain more information by clicking here. Utilizamos cookies próprios e de terceiros para melhorar nossos serviços e mostrar publicidade relacionada às suas preferências, analisando seus hábitos de navegação. Se continuar a navegar, consideramos que aceita o seu uso. Você pode alterar a configuração ou obter mais informações aqui.