Güvenli Ulaşım Bakış Açısıyla Bir Kayıcı Teknenin Yalpa Hareketi İçin Kontrolcü Dizayni

Denizcilik sektöründe güvenli seyir konusu her geçen gün daha da önem kazanmaktadır. Sadece yolcu ve yük taşımacılığı açısından değil, farklı deniz operasyonlarında da bu durum geçerliliğini korumaktadır. Bu noktadan yola çıkarak gemilerde, denizlerde karşılaşılabilecek farklı şiddetteki rüzgar, dalga vb durumlarda güvenli seyir gerçekleştirilebilmesi amacıyla birçok ekipman kullanılmaktadır. Bu ekipmanlar aktif ve pasif sistemler olarak sınıflandırılmakta ve farklı gemi tiplerine uygulanabilmektedir. Özellikle hız ve manevra kabiliyetinin yüksek olduğu gemi türleri için anlık tepkilerin önemli olması nedeniyle aktif dengeleyici sistemler sıklıkla kullanılmaktadır. Kullanılan birçok aktif sistem olmakla beraber, aktif yalpa dengeleyici fin sistemleri en yaygın olanıdır. Bu bağlamda, çalışmada aktif yalpa dengeleyici fin sistemi ile kayıcı bir teknenin yalpa hareketi için, Doğrusal Matris Eşitsizlikleri tabanlı, dayanıklı ve doyumlu H2 durum geri beslemeli kontrol uygulaması tanımlanmaktadır. Matematik modelde doğrusal olmayan ifadeler, sönüm ve doğrultucu moment terimleriyle ifade edilmektedir. Kayıcı teknenin yalpa hareketinin matematik modeline dayalı olarak ayrıca durum-uzay modeli, kontrol uygulaması ve simülasyon için sunulmaktadır. Aktif fin yalpa dengeleyici sistemin farklı açılardaki boyutsuz kaldırma katsayıları Star CCM+ programıyla hesaplanmıştır. Kontrollü ve kontrolsüz durumlardaki yalpa genlikleri maksimum kaldırma katsayısı için incelenmiştir. Sonuç olarak, güvenli bir ulaşım için önerilen yaklaşımın verimliliği simülasyon sonuçlarıyla gösterilmiş ve yalpa hareketinin genlikleri makul seviyelere düşürülerek etkili bir çalışma gerçekleştirilmiştir.

Controller Design for Roll Motion of a Planing Hull From a Safe Transportation Perspective

The issue of safe navigation in the maritime sector is becoming more important day by day. This situation is valid not only in terms of passenger and cargo transportation, but also in different maritime operations. Based on this point, much equipment is used in order to perform safe navigation in ships for different sea states such as wind, wave, etc. This equipment is classified as active and passive systems and can be applied to different types of ships. Active stabilizer systems are frequently used, especially for ship types where speed and maneuverability are high, as instantaneous responses are important. Although there are many active systems used, active roll stabilizer fin systems are the most common. At this point, this paper describes an application of LMI (Linear Matrix Inequality) based robust and saturated H2 state feedback control to roll motion of the planing hull via the fin stabilizer. In the mathematical model, nonlinearities are expressed through damping and restoring terms. Based on the planing hull roll motion mathematical model, we also present a state space model suitable for simulation and control applications. Nondimensional lift coefficients of the fin stabilizer for different angles of attack are calculated with Star CCM+ package software. Both controlled and uncontrolled conditions are examined for the maximum lift coefficient. As a result, the efficiency of the proposed approach for safe transportation was demonstrated with the simulation results and an effective study was carried out by reducing the amplitudes of the roll motion to reasonable levels.

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