Iterative extremum seeking trim control on a high speed craft by using extended Kalman filter

Abstract

An automatic trim control of a high-speed craft can decrease fuel consumption. Also, it can increase the safety and comfort of passengers in high-speed craft. This controller can be applied on any interceptor, trim tabs, sterndrive propulsion unit, etc. An iterative extremum seeking trim control of a high-speed craft is currently being studied in this project. Hence, a pair of interceptors and trim tabs were mounted on the high-speed craft Volcano 71, with a length 10.86m for obtaining sea trials’ data and real-time applications in real sea conditions. The sterndrive engines of Volcano 71 have engines rated at 2x385 HP, and it reaches a top speed of 40 knots. The pulse width modulation (PWM) drivers were provided for the interceptor and trim tab systems and operated in open loop control. A Global Positioning System (GPS) and an Attitude and Heading Reference System (AHRS) were used to collect feedback data in changing sea conditions for system identification and to measure maximum effects. The GPS will be utilized as sole sensor for final prototype. Then, an iterative extremum seeking trim control of the craft studied on a coupled identification nonlinear model by using an Extended Kalman Filter (EKF) algorithm. Successful results were achieved with EKF controller in calm sea conditions. The design of the automatic trim control is currently underway going on for little wavy sea conditions and/or variable ship speeds. After finalizing the simulation studies of the iterative extremum trim control on the nonlinear model, full scale trials will be realized. The performance of the automatic trim control for a high-speed craft can be evaluated by the speed value at the same motor power while a trim tab, an interceptor, and/or sterndrive system are either active or off.

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Identifiers

ORCID for P.A. Wilson: orcid.org/0000-0002-6939-682X

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