Adaptive Control of Small Outboard-Powered Boats for Survey Applications

Four autopilot controllers have been developed in this work that can both hold a desired heading and follow a straight line. These PID, adaptive PID, neuro-adaptive, and adaptive augmenting control algorithms have all been implemented into a numerical simulation of a 33-foot center console vessel with wind, waves, and current disturbances acting in the perpendicular (across-track) direction of the boat s desired trajectory. Each controller is tested for its ability to follow a desired heading in the presence of these disturbances and then to follow a straight line at two different throttle settings for the same disturbances. These controllers were tuned for an input thrust of 2000 N and all four controllers showed good performance with none of the controllers significantly outperforming the others when holding a constant heading and following a straight line at this engine thrust. Each controller was then tested for a reduced engine thrust of 1200 N per engine where each of the three adaptive controllers reduced heading error and across-track error by approximately 50% after a 300 second tuning period when compared to the fixed gain PID, showing that significant robustness to changes in throttle setting was gained by using an adaptive algorithm

The effects of turbulence intensity on the downstream performance of horizontal axis tidal stream turbines

This study focuses on a comparison of model results from a blade element momen- tum computational fluid dynamics (BEM-CFD) steady state RANS model, and a BEMT model that accounts for the wake generated from upstream turbines using analytic expressions. Rotor forces are calculated using 3D hydrofoil profile data. Both techniques are validated against ex- isting experimental data, and then used to assess the power extraction of downstream turbines. Turbulent inflow conditions of 3% and 7% are applied, and the results of power extraction as- sessed. Particular attention is paid to the velocity field, with respect to the downstream wake, to assess how the turbulence characteristics effect the recovery rate and downstream power potential. Both models highlight the different recovery rates of the two turbulent conditions