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Development of automatic gain-tuning algorithm for heading control using free-running test dataopen accessDevelopment of automatic gain-tuning algorithm for heading control using free-running test data

Other Titles
Development of automatic gain-tuning algorithm for heading control using free-running test data
Authors
Kim, Jung-HyeonKim, Su-RimJo, Hyun-JaeYeo, Chan YoungYeo, Dong JinYun, KunhangPark, JeonghongPark, Jong-Yong
Issue Date
1월-2023
Publisher
SOC NAVAL ARCHITECTS KOREA
Keywords
Automatic gain-tuning; System identi fication; Sensitivity analysis; Free-running test
Citation
INTERNATIONAL JOURNAL OF NAVAL ARCHITECTURE AND OCEAN ENGINEERING, v.15, pp 1 - 9
Pages
9
Journal Title
INTERNATIONAL JOURNAL OF NAVAL ARCHITECTURE AND OCEAN ENGINEERING
Volume
15
Start Page
1
End Page
9
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9508
DOI
10.1016/j.ijnaoe.2023.100517
ISSN
2092-6782
2092-6790
Abstract
This study proposes an automatic gain-tuning algorithm for ships. The proposed algorithm is designed to tune the gains of the ship controller automatically, rather than using trial and error. The forward speed and steering models were derived by linearizing and simplifying the 3-degrees of freedom (DOF) nonlinear equation of motion of the ship. The initial control gains were calculated using an error dy-namics model constructed by combining the steering and system models of the controller. The maneuvering simulations and sensitivity analysis of the control performance at various control gains were performed for gain-tuning. System identification was conducted based on derived dynamics models and free-running test data. The tests verified that the gain-tuning algorithm corrects the gains more accurately and rapidly than trial and error. In addition, the algorithm reduced overshoot by 85% compared to the initial control gains.(c) 2023 Society of Naval Architects of Korea. Production and hosting by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
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