Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

This paper presents a two-time scale control structure for the course keeping of an advanced marine surface vehicle, namely, the fully submerged hydrofoil vessel. The mathematical model of course keeping control for the fully submerged hydrofoil vessel is firstly analyzed. The dynamics of the hydrofoil servo system is considered during control design. A two-time scale model is established so that the controllers of the fast and slow subsystems can be designed separately. A robust integral of the sign of the error (RISE) feedback control is proposed for the slow varying system and a disturbance observer based state feedback control is established for the fast varying system, which guarantees the disturbance rejection performance for the two-time scale systems. Asymptotic stability is achieved for the overall closed-loop system based on Lyapunov stability theory. Simulation results show the effectiveness and robustness of the proposed methodology

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

This paper proposes a novel robust output feedback control methodology for the course keeping control of a fully submerged hydrofoil vessel. Based on a sampled-data iterative learning strategy, an iterative learning observer is established for the estimation of system states and the generalized disturbances. With the state observer, a feedback linearized iterative sliding mode controller is designed for the stabilization of the lateral dynamics of the fully submerged hydrofoil vessel. The stability of the overall closed-loop system is analyzed based on Lyapunov stability theory. Comparative simulation results verify the effectiveness of the proposed control scheme and show the dominance of the disturbance rejection performance

Diagnostic Method for Short Circuit Faults at the Generator End of Ship Power Systems Based on MWDN and Deep-Gated RNN-FCN

Synchronous generators with three phases are crucial components of modern integrated power systems in ships. These generators provide power for the entire operation of the vessel. Therefore, it is of paramount importance to diagnose short-circuit faults at the generator terminal in the ship’s power system to ensure the safe and stable operation of modern ships. In this study, a generator terminal short-circuit fault diagnosis method is proposed based on a hybrid model that combines the Multi-Level Wavelet Decomposition Network, Deep-Gated Recurrent Neural Network, and Fully Convolutional Network. Firstly, the Multi-Level Wavelet Decomposition Network is used to decompose and denoise the collected electrical signals, thus dividing them into sub-signals and extracting their time-domain and frequency-domain features. Secondly, synthetic oversampling based on Gaussian random variables is employed to address the problem of imbalance between normal data and fault data, resulting in a balanced dataset. Finally, the dataset is fed into the hybrid model of the Deep-Gated Recurrent Neural Network and Fully Convolutional Network for feature extraction and classification of faults, ultimately outputting the fault diagnosis results. To validate the performance of the proposed method, simulations and comparative analysis with other algorithms are conducted on the fault diagnosis method. The proposed algorithm’s accuracy reaches 96.82%, precision reaches 97.35%, and the area under curve reaches 0.85, indicating accurate feature extraction and classification for identifying short-circuit faults at the generator terminals

AUV cluster path planning based on improved RRT* algorithm

Objective Aiming at the cluster control problem of small underactuated autonomous underwater vehicles (AUVs), a formation control strategy based on an improved RRT* algorithm is designed.MethodPaths planned by the RRT* algorithm are steep and difficult to track, with slow convergence speed, so an improved method is proposed to solve the above problems. First, a deviation function is added to bring the random sampling points closer to the target point, then the sampling points are connected smoothly using a Dubins curve. By rerouting within the variable radius range and designing the cost function in relation to the curve length and obstacle avoidance, the best path is chosen. According to the cost and minimum value, multiple AUVs are assigned a rendezvous point, and the speed of multiple AUVs is coordinated to complete the minimum rendezvous time constraint. A segmented vector field construction method based on the Dubins path is then designed, enabling multiple AUVs to track the planned path and reach the target rendezvous point with the direction remaining the same.ResultsThe simulation results show that the average path length of multiple AUV formations is shortened by 26.6% and the average assembly time is shortened by 21.7%. ConclusionThe improved algorithm proposed herein has high path planning quality and can successfully complete formation assembly tasks

Fault diagnosis approach of rolling bearing based on NA-MEMD and FRCMAC

This paper proposed a new method of fault diagnosis based on Noise Assisted Multivariate Empirical Mode Decomposition (NA-MEMD) and Fuzzy Recurrent Cerebellar Model Articulation Controller (FRCMAC) Neural Networks. Aiming at the problem that during the use of the NA-MEMD method, the white noise amplitude parameter needs to be selected by artificial experience, a method of using Genetic Algorithm (GA) to optimize its auxiliary white noise parameters is proposed, which facilitates the use of NA-MEMD. We proposed a novel FRCMAC structure which improved Learning efficiency and dynamic response speed than traditional CMAC structure. First, the GA-NA-MEMD method is applied to process the vibration signals of rolling bearings, and the signals are decomposed into a group of Intrinsic Mode Functions (IMFs). Then use energy moments of IMFs as fault feature vectors to train FRCMAC neural network, a neural network structure suitable for rolling bearing fault diagnosis is obtained. Finally, the data from bearing data center of Case Western Reserve University is used to prove that the fault diagnosis method proposed in this paper is superior to other methods in diagnosis time and precision, which can meet the training requirements more quickly with limited training samples and fault diagnosis results more accurate

Research on Multi-Energy Integrated Ship Energy Management System Based on Hierarchical Control Collaborative Optimization Strategy

The propulsion systems of hybrid electric ship output and load demand have substantial volatility and uncertainty, so a hierarchical collaborative control energy management scheme of the ship propulsion system is proposed in this paper. In a layer of control scheme, the traditional perturbation algorithm is improved. Increasing the oscillation detection mechanism and establishing the dynamic disturbance step length realizes the real-time stability of maximum power point tracking control. In the second-layer control scheme, the power sensitivity factor and voltage and current double closed-loop controller is introduced. By designing a two-layer coordinated control strategy based on the dynamic droop coefficient, the problem of voltage and frequency deviation caused by load switching is solved. In the third-layer control scheme, due to the need of the optimal scheduling function, the multi-objective particle swarm optimization algorithm was improved through three aspects: introducing the mutation factor, improving the speed formula, and re-initializing the strategy. Compared with other algorithms, this algorithm proves its validity in day-ahead optimal scheduling strategy. The superiority of the hierarchical collaborative optimization control schemes proposed was verified, in which power loss was reduced by 39.3%, the overall tracking time was prolonged by 15.4%, and the environmental cost of the diesel generator was reduced by 8.4%. The control strategy solves the problems of the steady-state oscillation stage and deviation from the tracking direction, which can effectively suppress voltage and frequency fluctuations

Blind Source Separation Method Based on Neural Network with Bias Term and Maximum Likelihood Estimation Criterion

Convergence speed and steady-state source separation performance are crucial for enable engineering applications of blind source separation methods. The modification of the loss function of the blind source separation algorithm and optimization of the algorithm to improve its performance from the perspective of neural networks (NNs) is a novel concept. In this paper, a blind source separation method, combining the maximum likelihood estimation criterion and an NN with a bias term, is proposed. The method adds L2 regularization terms for weights and biases to the loss function to improve the steady-state performance and designs a novel optimization algorithm with a dual acceleration strategy to improve the convergence speed of the algorithm. The dual acceleration strategy of the proposed optimization algorithm smooths and speeds up the originally steep, slow gradient descent in the parameter space. Compared with competing algorithms, this strategy improves the convergence speed of the algorithm by four times and the steady-state performance index by 96%. In addition, to verify the source separation performance of the algorithm more comprehensively, the simulation data with prior knowledge and the measured data without prior knowledge are used to verify the separation performance. Both simulation results and validation results based on measured data indicate that the new algorithm not only has better convergence and steady-state performance than conventional algorithms, but it is also more suitable for engineering applications

Improved Robust High-Degree Cubature Kalman Filter Based on Novel Cubature Formula and Maximum Correntropy Criterion with Application to Surface Target Tracking

Robust nonlinear filtering is an important method for tracking maneuvering targets in non-Gaussian noise environments. Although there are many robust filters for nonlinear systems, few of them have ideal performance for mixed Gaussian noise and non-Gaussian noise (such as scattering noise) in practical applications. Therefore, a novel cubature formula and maximum correntropy criterion (MCC)-based robust cubature Kalman filter is proposed. First, the fully symmetric cubature criterion and high-order divided difference are used to construct a new fifth-degree cubature formula using fewer symmetric cubature points. Then, a new cost function is obtained by combining the weighted least-squares method and the MCC loss criterion to deal with the abnormal values of non-Gaussian noise, which enhances the robustness; and statistical linearization methods are used to calculate the approximate result of the measurement process. Thus, the final fifth-degree divided difference–maximum correntropy cubature Kalman filter (DD-MCCKF) framework is constructed. A typical surface-maneuvering target-tracking simulation example is used to verify the tracking accuracy and robustness of the proposed filter. Experimental results indicate that the proposed filter has a higher tracking accuracy and better numerical stability than other common nonlinear filters in non-Gaussian noise environments with fewer cubature points used

A Nonlinear Disturbance Observer Based Virtual Negative Inductor Stabilizing Strategy for DC Microgrid with Constant Power Loads

For the dc microgrid system with constant power loads (CPLs), the dc bus voltage can easily cause high-frequency oscillation owing to the complicated impedance interactions. The large line inductance and the CPL-side capacitance will form an undamped LC circuit on the dc bus, which, together with the CPL, will make the system fall into the negative-damping region, thus causing the system instability. To address this problem, a virtual negative inductor (VNI) is built on the source side converter in this paper, which can effectively counteract the large line inductance, thus alleviating the instability problem. Moreover, a nonlinear disturbance observer (NDO) is proposed for estimating the converter output current, which relieves the strong dependence of the proposed VNI strategy on the output current measurement. And the proposed strategy is implemented in a totally decentralized manner, thus alleviating the single-point-failure problem in the central controller. For assuring the optimal parameter value for the proposed stabilizing strategy, a system root-locus diagram based parameter designing approach is adopted. And comparative Nyquist diagram based stability analyses are taken for studying the robustness of the proposed strategy to the system perturbations. Finally, detailed real-time simulations are conducted for validating the effectiveness of the proposed stabilizing strategy

A Novel Receiving and Extraction Method for Echoes of Multistatic Sonar

Multiple carrier frequency detecting signals are transmitted simultaneously by multiple transmitters in multistatic sonar. The echoes mixed with different carrier frequency in the receiver. The different carrier frequency echoes must be separated from one another before features of echoes are extracted in the receiver. Such a problem can be solved by band-pass and low-pass filters. But the amount of operation by this way is too large for real-time realization. Thus this paper presents the technique of channelized receiver based on multiphase filter and the receiving schemes of echo. The proposed receiver has a smaller amount of operation compared to low-pass filter. At last, the feature extraction technology correlation processing and FDWT are introduced. In order to verify the feasibility of this scheme in multistatic sonar, the extracted features of original echo are contrasted with those of processed echo via simulation. Simulation results show that the proposed receiver provides considerable performance