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Vol: 57(71) No: 2 / June 2012 Optimal and Fault Tolerant Control Strategy for Ship Stabilization Catalin Bara Department of Automatic Control and Computers, ”Politehnica” University of Bucharest, 313 Splaiul Independentei Street, 060042 Bucharest, Romania, e-mail: catalin.bara@gmail.com Mihai Cornoiu Department of Automatic Control and Computers, ”Politehnica” University of Bucharest, 313 Splaiul Independentei Street, 060042 Bucharest, Romania Dumitru Popescu Department of Automatic Control and Computers, ”Politehnica” University of Bucharest, 313 Splaiul Independentei Street, 060042 Bucharest, Romania, e-mail: dpopescu@indinf.pub.ro Keywords: ship stabilization, mathematical modeling, optimal command, fault tolerant command Abstract This paper tackles the problematic of ship stabilization using an optimal and fault tolerant control strategy. The control strategy uses optimal amounts of resources to stabilize the ship, during the loading and unloading operations on docked vessels. A mathematical model linking the ship’s positioning and orientation with the forces and moments exerted upon the hull is required in order to develop the control strategy for the ship’s stabilizing ballast systems. The strategy is designed using graph theory concepts, taking into account the ballast system’s topology, we can generate an optimal command sequence in respect to minimum energy consumption and tolerance to faults. References [1] T. I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control, Wiley, 2011, ch. 4. [2] K. H. Son and K. Nomoto, “On the coupled motion of steering and rolling of a high-speed container ship”, Journal of Naval Architecture and Ocean Engineering, vol. 20, pp. 73-83, 1982. [3] P. G. M. van der Klugt, Rudder roll stabilization, PhD thesis, Delft University of Technology, The Netherlands, 1987. [4] SNAME, “Nomenclature for Treating the Motion of a Submerged Body Through a Fluid”, The Society of Naval Architects and Marine Engineers, Technical and Research Bulletin No.1‐5, pp. 1‐15, April 1950. [5] W. C. Price and R. E. D. Bishop, Probabilistic Theory of Ship Dynamics, Chapman and Hall, London, 1974. [6] T. Perez and M. Blanke, Mathematical ship modelling for marine applications, Technical report, Technical University of Denmark, 2002. [7] N. Biggs, E. Lloyd and R. Wilson, Graph Theory 1736-1936, Oxford University Press, 1986. [8] E. W. Dijkstra, “A note on two problems in connexion with graphs”, Numerische Mathematik, pp. 269-271, 1959. [9] M. Sgrumala and I. Bidoae, Proiectarea si constructia navelor mici, ch. 4, Editura Tehnica, Bucharest, 1978. [10] C. Bâra, M. Cornoiu and D. Popescu, “A fault tolerant control strategy for ship stabilization using ballast systems”, Proceedings of IEEE 7th International Symposium on Applied Computational Intelligence and Informatics (SACI 2012), Timisoara, Romania, 2012, pp. 35-40. |