Robust Control of Diesel Ship Propulsion

ISBN-13: 9781852335434 / Angielski / Twarda / 2002 / 214 str.

Nikolaos Xiros; N. Xiros

Opis

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies ..., new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. As fuel becomes more expensive, as engine technology changes and as marine safety requirements become more stringent there is a continuing need to re- investigate and re-assess the controller strategies used for marine vessels. Nikolaos Xiros has produced such a contribution in this Advances in Industrial Control monograph on the control of diesel ship propulsion. The monograph is carefully crafted and gives the full engineering and system background before embarking on the modelling stages of the work. The physical system modelling is then used to investigate both transfer function and state space models for the engine dynamics.

Spis treści

1 Introduction.- 1.1 The Marine Diesel Propulsion System.- 1.1.1 Historical Note.- 1.1.2 Marine Engine Configuration and Operation.- 1.1.3 The Screw Propeller.- 1.2 Contribution of this Work.- 1.2.1 Statement of the Problem.- 1.2.2 Overview of the Approach.- 1.2.3 Text Outline.- 2 Marine Engine Thermodynamies.- 2.1 Physical Engine Modelling.- 2.2 Turbocharged Engine Model Variables.- 2.3 Turbocharged Engine Dynamical Equations.- 2.4 Turbocharged Engine Algebraic Equations.- 2.4.1 Turbocharger Compressor.- 2.4.2 Intercooler.- 2.4.3 Scavenging Receiver.- 2.4.4 Engine Cylinders.- 2.4.5 Exhaust Receiver.- 2.4.6 Turbocharger Turbine.- 2.5 Cycle-mean Model Summary and Solution Procedure.- 2.5.1 Direct-drive Turbocharged Engine Model Summary.- 2.5.2 Engine Simulation Procedure.- 2.5.3 Typical Case Numerical Example.- 2.5.4 Torque Map Generation Procedure.- 2.5.5 Test Case Investigation.- 2.6 Summary.- 3 Marine Plant Empirical Transfer Function.- 3.1 Black-box Engine Modelling.- 3.2 Shafting System Dynamical Analysis.- 3.2.1 Lumped Two-mass Model.- 3.2.2 Typical Case Numerical Investigation.- 3.3 The Plant Transfer Function.- 3.3.1 Black-box Model Development and Identification.- 3.3.2 Full-order Transfer Function.- 3.3.3 Reduced-order Transfer Function.- 3.3.4 Plant Transfer Function Identification.- 3.3.5 Identification of Typical Powerplant.- 3.4 Summary.- 4 Robust PID Control of the Marine Plant.- 4.1 Introduction.- 4.1.1 The PID Control Law.- 4.1.2 Proportional Control.- 4.1.3 Proportional-Integral Control.- 4.1.4 Proportional-Integral-Derivative Control.- 4.2 Application Aspects of Marine Engine Goveming.- 4.2.1 Functionality Requirements.- 4.2.2 Spectral Analysis of Engine and Propeller Torque.- 4.2.3 Example of Propulsion Plant Analysis.- 4.3 PID H-infinity Loop Shaping.- 4.3.1 Theoretical Note.- 4.3.2 PID Controller Tuning for Loop Shaping.- 4.4 PI and PID H-infinity Regulation of Shaft RPM.- 4.4.1 Overview and Requirements.- 4.4.2 The PI H? RPM Regulator.- 4.4.3 The PID H? RPM Regulator.- 4.4.4 Robustness Against Neglected Dynamies.- 4.4.5 Numerical Investigation of a Typical Case.- 4.5 D-term Implementation Using Shaft Torque Feedback.- 4.5.1 Real-time Differentiation and Linear Filters.- 4.5.2 RPM Derivative Estimation from Fuel Index and Shaft Torque.- 4.5.3 The PID H? RPM Regulator with Shaft Torque Feedforward.- 4.5.4 Typical Case Numerical Investigation.- 4.6 Summary.- 5 State-space Description of the Marine Plant.- 5.1 Introduction.- 5.1.1 Overview of the Approach.- 5.1.2 Mathematical Formulation and Notation.- 5.2 The Neural Torque Approximators.- 5.2.1 Configuration of the Approximators.- 5.2.2 Training of the Approximators.- 5.2.3 Typical Case Numerical Investigation.- 5.3 State Equations of the Marine Plant.- 5.4 State-space Decomposition and Uncertainty.- 5.4.1 Manipulation of Equations and Variables.- 5.4.2 State-space Parametrie Uncertainty and Disturbance.- 5.4.3 Uncertainty Identification of Typical Powerplant.- 5.5 Transfer Function Matrix of the Marine Plant.- 5.5.1 The Open-loop Transfer Function Matrix.- 5.5.2 Empirical and State-space Transfer Function.- 5.6 Summary.- 6 Marine Plant Robust State-feedback Control.- 6.1 Introduction.- 6.1.1. Controller Design Framework.- 6.1.2. Control of N2M.- 6.1.3. Control of UPM.- 6.1.4. Architecture of the Propulsion Control System.- 6.2 Supervisory Setpoint Control of the Marine Plant.- 6.2.1 Setpoint Control Requirements.- 6.2.2 Supervisory Controller Structure.- 6.2.3 Test Case Investigation.- 6.2.4 The Low-pass Setpoint Filter.- 6.3 Full-state-feedback Control of the Marine Plant.- 6.3.1 Theoretical Background.- 6.3.2 Practical H?-norm Requirements.- 6.3.3 Marine Plant Regulator Synthesis.- 6.3.4 Test Case: MAN B&W 6L60MC Marine Plant.- 6.3.5 Robustness Against Model Uncertainty.- 6.4 State-feedback and Integral Control of the Marine Plant.- 6.4.1 Steady-state Error Analysis.- 6.4.2 Integral Control and Steady-state Error.- 6.5 Summary.- 7 Closure.- 7.1 Conclusions and Discussion.- 7.2 Subjects for Future Investigations and Research.- Appendix A Non-linear Aigebraic Systems of Equations.- Appendix B Second-order Transfer Function with Zero.- References.

Blurb

The control of marine engines and propulsion plants is a field of increasing interest to the maritime industry. The author's participation in a number of closely related research projects together with practical shipboard experience allows Robust Control of Diesel Ship Propulsion to present a broad view of the needs and problems of the shipping industry in this area.

The book covers a number of models and control types: An integrated nonlinear state-space model of the marine propulsion system is developed. This is based upon physical principles that incorporate uncertainties due to engine thermodynamics and disturbances due to propeller hydrodynamics. The model employs artificial neural nets for depicting the nonlinearities of the thermochemical processes of engine power/torque generation and the engine-turbocharger dynamical interaction; neural nets combine the required mathematical flexibility and formalism with numerical training and calibration options using either thermodynamic engine models or measured data series. The neural state-space model is decomposed appropriately to provide a linearised perturbation model suitable for controller synthesis.

The proportional integral (derivative) control law is examined under the perspective of shaft speed regulation for enhanced disturbance rejection of the propeller load. The typical marine shafting system dynamics and configuration allow for a smart implementation of the D-term based on shaft torque feedback.

Full-state feedback control is, examined for increased robustness of the compensated plant against parametric uncertainty and neglected dynamics. The H-infinity requirements on the closed-loop transfer matrix are appropriately decomposed to similar ones on scalar transfer functions, which give specifications which are easier to manipulate.

In effect, the methods are comparatively assessed and suggestions for extensions and practical applications are given. This synthetic approach to the propulsion plant control and operational problems should prove useful for both theoreticians and practitioners, and can be easily adopted for the control of other processes or systems outside the marine field, as well.