질량이동형 감요장치의 제어기 설계에 최적제어기법 적용

Abstract

Mass Driving Anti-Rolling System(MDARS) is used to reduce small ship's roll motion. In general, the Proportional-Derivative-Acceleration(PDA) controller has been widely used as the controller for MDARS system. In this paper, optimal control theory was applied to improve roll reduction capability instead of PDA controller. To do this, the coupled dynamics of ship and moving weight was derived, and described as the state-space model. As the result of the comparison of optimal controller with conventional PDA controller, it was confirmed that the optimal controller might be used as an alternative of the PDA controller with the same degree of performance. In addition, saturation of control force and slow actuator dynamics were considered conveniently when optimal controller was used.