• Chinese Journal of Ship Research
  • Vol. 20, Issue 1, 289 (2025)
Qi LANG1, Haixiang XU1,2,3, Wenzhao YU1,2,3, Zhe DU1,2..., Hongmei WANG1 and Jinlong CHEN1|Show fewer author(s)
Author Affiliations
  • 1School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China
  • 2Key Laboratory of High Performance Ship Technology (Wuhan University of Technology), Ministry of Education, Wuhan 430063, China
  • 3Sanya Science and Education Innovation Park, Wuhan University of Technology, Sanya 572025, China
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    DOI: 10.19693/j.issn.1673-3185.04191 Cite this Article
    Qi LANG, Haixiang XU, Wenzhao YU, Zhe DU, Hongmei WANG, Jinlong CHEN. Fault-tolerant control for ships with thruster faults based on improved adaptive control allocation[J]. Chinese Journal of Ship Research, 2025, 20(1): 289 Copy Citation Text show less
    [in Chinese]
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    Fig. 5. [in Chinese]
    The curves of the adaptive parameters under two CA algorithms in experiment 1实验1两种算法下自适应参数的变化曲线
    Fig. 6. The curves of the adaptive parameters under two CA algorithms in experiment 1实验1两种算法下自适应参数的变化曲线
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    Fig. 7. [in Chinese]
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    Fig. 9. [in Chinese]
    参 数数 值
    总长$ {L_{{\mathrm{oa}}}} $/m2.646
    垂线间长$ {L_{{\mathrm{pp}}}} $/m2.456
    船宽B/m0.874
    型深D/m0.456
    吃水d/m0.21
    满载重量M/kg267.46
    Table 1. Main scale of the experimental prototype
    推进器$ l_x/\rm{m} $$ l_y/\rm{m} $$ {{{u_{\min }}} /{\rm{N}}} $$ {{{u_{\max }}} /{\rm{N}}} $
    #1−1.18−0.17060
    #2−1.180.17060
    #3−0.77−2020
    #40.92−2020
    #51.07−2020
    Table 2. Parameters of the thruster
    组别类型故障时间t/s效率损失矩阵
    实验1仿真实验100${\rm{diag}} (1,1,0.5,0.5,1,1,1)$
    300${\rm{diag}} (1,1,0.5,0.5,1,1,0)$
    实验2模型实验200${\rm{diag}} (1,1,0.5,0.5,1,1,1)$
    实验3模型实验200${\rm{diag}} (1,1,1,1,1,1,0)$
    Table 3. Experiment setup for each group
    符 号数 值
    风速${V_{\rm{wind} }}$/(m·s−1)4.0
    风向角${\beta _{\rm{wind}}}$/rad$ {\text{π}}/4 $
    流速${V_{\rm{c}}}$/(m·s−1)0.5
    流向角${\beta _{\rm{c}}}$/rad${\text{π}}/6$
    平均波高${H_{\rm{wave}}}$/m0.1
    波浪角${\beta _{\rm{wave}}}$/rad${\text{π}}/4$
    Table 4. Simulation environment parameters
    增 益ACA[23]IACA
    $ {{\boldsymbol{A}}_{\rm{m}} } $$ - {\rm{diag}} \left( {0.2,0.2,0.1} \right) $$ - {\rm{diag}} \left( {0.2,0.2,0.1} \right) $
    Q$ {\rm{diag}} \left( {1,1,1} \right) $$ {\rm{diag}} \left( {1,1,1} \right) $
    P$ {\rm{diag}} \left( {2.5,2.5,5} \right) $$ {\rm{diag}} \left( {2.5,2.5,5} \right) $
    $ {{\boldsymbol{e}}_0} $$ {[0.1, - 0.1,0.1]^{\rm{T}} } $$ {[0.1, - 0.1,0.1]^{\rm{T}} } $
    $ {{\boldsymbol{\theta }}_0} $$ {\left( {{{\boldsymbol{B}}^\dagger }} \right)^{\rm{T}}} $$ {\left( {{{\boldsymbol{B}}^\dagger }} \right)^{\rm{T}}} $
    $ {\boldsymbol{\varepsilon }} $$ 0.002{\rm{diag}} \left( {1,1,1} \right) $$ 0.002{\rm{diag}} \left( {1,1,1} \right) $
    $ {{\boldsymbol{\varepsilon }}_{\rm{d}}} $/$ 0.01{\rm{diag}} \left( {1,1,1} \right) $
    Table 5. Relevant parameters of different CA methods
    方法$ {{\max \left( {\left| {{e_x}} \right|} \right)} /{{\mathrm{m}}} } $$ {{\max \left( {\left| {{e_y}} \right|} \right)} / {{\mathrm{m}}} } $$ {{\max \left( {\left| {{e_{\textit{z}}}} \right|} \right)} / {(^\circ }}) $
    QPCA0.696 30.229 813.846 7
    ACA0.110 20.068 01.947 0
    IACA0.048 10.031 80.290 6
    Table 6. Maximum positioning errors under three CA algorithms in experiment 1
    组别方法$ \max \left( {\left| {{e_x}} \right|} \right) $/m$ \max \left( {\left| {{e_y}} \right|} \right) $/m$ \max \left( {\left| {{e_{\textit{z}}}} \right|} \right) $/(°)
    实验2QPCA1.194 31.291 84.079
    实验2IACA0.248 60.230 72.070
    实验3QPCA1.499 12.550 511.044
    实验3IACA0.418 91.501 82.630
    Table 7. Maximum positioning errors under two CA algorithms in experiment 2 and 3
    Qi LANG, Haixiang XU, Wenzhao YU, Zhe DU, Hongmei WANG, Jinlong CHEN. Fault-tolerant control for ships with thruster faults based on improved adaptive control allocation[J]. Chinese Journal of Ship Research, 2025, 20(1): 289
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