course-details-portlet

TMR4243 - Marine Control Systems 2

About

Examination arrangement

Examination arrangement: Oral examination and Work
Grade: Letters

Evaluation Weighting Duration Grade deviation Examination aids
Muntlig eksamen 50/100
Arbeider 50/100

Course content

The course will give a specialization in analysis, development, and testing of advanced marine control systems. The focus is on mathematical modelling and design of control systems for various marine operations, vessel motion, machinery systems, and propulsion systems for ships, underwater vehicles, and marine structures.

The course consists of 3 modules whereof 2 should be selected.

Module A: Advanced model-based design and testing of marine control systems:
The course will focus on marine applications where process insight and physical understanding are of particular importance for controller design and testing.
Typical applications are on modelling and control of flexible structures described by partial differential equations, high speed crafts and advanced marine and underwater operations in harsh and changing environments and deep water, methods for optimal thrust allocation. Examples are control of risers and pipes, ride control of air cushion catamarans, underwater robotics, and dynamic positioning of ships and rigs in extreme seas and in ice. Testing of marine control systems by means of Failure Mode and Effect Analysis – FMEA and simulator based Hardware-In-the-Loop (HIL) testing will also be addressed.

Module B: Advanced control design methods for marine systems:
The purpose is to achieve a specialization in mathematical design of nonlinear model-based control laws for marine applications. The subject consists of some lectures on basic nonlinear system theory, and then lectures on various nonlinear control design methods. After the general theory has been presented, the student will select a specialization on a design methodology, e.g.:
- Robust nonlinear control methods (different backstepping methods, ISS designs, sliding-mode designs, passivity-based control, nonlinear PID and integral control).
- Adaptive control designs for nonlinear systems (adaptive backstepping, gradient methods, L1 adaptive control, etc.).
- Maneuvering control theory and path-following control designs for marine vessels (path parameterization, path generation, guidance theories, and relevant feedback control laws).
- Formation control theory for marine vessels (formation configurations, control strategies, guidance strategies, anti-collision, etc.)
- Fault-diagnosis and fault tolerant control (failure-mode detection, fault isolation, and control redesign to detect and handle failures in equipment and processes).

Module C: Marine Mechatronics
Review of particle- and particle systems kinematics and kinetics. Dynamics of rigid bodies in 3D motion. Actuatuators in mechatronic systems, modeling and control. Introduction to Hamilton’s principle and Lagrange’s method for formulation of equation of motion for mechanical systems. Modeling of hybrid systems and solutions of the equations of motion using computer methods. Applications from machinery dynamics, rototics and mechatronics.

Learning outcome

At the end of Module A, the student should be able to:
- understand the purpose and value of advanced modelling and physical insight in the design, testing and verification of marine control systems.
- design and analyse model-based control systems using hybrid and supervisory-switched control theory subject to varying environmental and operational conditions.
-understand the principles and methodology for testing and verification of marine control systems by Failure mode and effect analysis (FMEA) and simulator technology by Hardware-In-the-Loop (HIL) testing.

At the end of Module B, the student should be able to:
- describe conditions for existence, uniqueness, and completeness of solutions of time-invariant (autonomous) and time-varying (nonautonomous) ordinary differential equations.
- classify the local, global, uniform, and asymptotic stability properties of nonlinear systems in the sense of Lyapunov and various invariance theorems.
- relate bounded perturbations to input-to-state stability (ISS) of the nonlinear system and convert this into equivalent conditions for the Lyapunov functions.
- discuss the most common types of control objectives, define the concept of a control Lyapunov function (CLF), and apply a CLF-based methodology to design a control law according to a defined problem statement.
- demonstrate how to design control laws based on backstepping, sliding mode, and integral action.
- use basic nonlinear control theory and a specialized methodology such as adaptive control, formation control, or maneuvering control, and develop a corresponding control system for a marine plant.

At the end of Module C, the student should be able to:
- describe and understand the concept of mechatronics and the subjects, components and methods which are required to work within the area.
- use methods from classical dynamics, kinematics and kinetics, to develop the equations of motion for mechanical systems in general and rigid bodies in specific in 3D motion.
- know the background and theory for Hamilton’s principle and Lagrange’s method for development of equations of motion for mechanical systems.
- know how typical actuators for marine applications work, their limitations and know how to model and control these in typical systems.
- be able to use mathematical modeling based on first principles to model typical mechatronic systems and use the models in design analysis, control system testing and performance optimization.

In general, the student should also be able to:
- write project reports with a clear and concise exposition of results, assessments, and conclusions, and to orally present the results of a project assignment in a clear and efficient manner, within time limits.
- conduct academic studies and written work in an honest and ethical manner, without any sort of plagiarism and misconduct in work assignment, project reports, and presentations.

Learning methods and activities

The learning is achieved by lectures, study groups, and/or guided self-studies based on practical circumstances (to be agreed). Together with the responsible lecturer, the student will also propose an application to apply the selected control method on. This shall result in a design of a control system for the application, an analysis of its properties, and corresponding simulation results. The work shall be documented in a report that will count 50% of the grade. The remaining part of the grade will be based on an oral test.

Compulsory assignments

  • Project report

Required previous knowledge

TTK4105 Control Engineering or similar is a prerequisite. In addition the students shall have completed one of the following courses TMR4240 Marine control systems, TMR4275 Modeling, analysis and simulation of physical systems or TTK4190 Guidance and control.

Course materials

- Sørensen, A. J. (2011). Marine Control Systems: Propulsion and Motion Control Systems of Ships and Ocean Structures. First Edition, UK-2011-76, Department of Marine Technology, the Norwegian University of Science and Technology, Trondheim, Norway.
- Textbook: Khalil, H. K. (2002). Nonlinear Systems, Prentice-Hall, Inc, New Jersey, 3 edition.
Bishop, R. H., (2008). Mechatronic Systems, Sensors and Actuators - Fundamentals and Modeling, CRS Press, Taylor & Francis Group, Boca Raton, NW.
- DNV. Rules for classification of ships.
- Selected papers on marine control applications.
- Selected papers on nonlinear control.
- Selected literature on modeling and mechatronics.

More on the course
Facts

Version: 1
Credits:  7.5 SP
Study level: Second degree level

Coursework

Term no.: 1
Teaching semester:  AUTUMN 2013

Language of instruction: English

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Subject area(s)
  • Marine Cybernetics
  • Marine Engineering
Contact information
Course coordinator: Lecturer(s):

Department with academic responsibility
Department of Marine Technology

Examination

Examination arrangement: Oral examination and Work

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Autumn ORD Arbeider 50/100
Room Building Number of candidates
Autumn ORD Muntlig eksamen 50/100 2013-12-12
Room Building Number of candidates
Summer KONT Arbeider 50/100
Room Building Number of candidates
Summer KONT Muntlig eksamen 50/100
Room Building Number of candidates
  • * The location (room) for a written examination is published 3 days before examination date. If more than one room is listed, you will find your room at Studentweb.
Examination

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