PROJECT TITLE: Stabilization and Control of Marine Mechatronic Systems
PhD period: 2014.10.01 – 2017.09.30. (has been prolonged till 2017.12.30)
Section: Esbjerg Energy Section
Research Programme: Offshore Energy Systems
Supervisor: Mohsen Soltani
Co-Supervisor: Dil Muhammad Akbar Hussain
Collaborator: SpaceCom A/S.
Funding: InnovationsFonden - Denmark.
Marine tracking antenna is a very important device for ships to continuously receive satellite signals. The aim of this project is to research and develop a new type of marine tracking antenna, which has several advantages in price, size and weight. Many kinds of new technologies, such as MEMS sensors based attitude estimation and model predictive control (MPC) algorithm, have to be used to keep the tracking error of the antenna within acceptable range, which is determined by the satellite service provider.
The advantages of MEMS inertial sensors are their low cost, small size, low power and find shockproof capability, which are ideal to be used in this project to achieve attitude estimation. However, due to low precision and drift, MEMS gyroscope alone could not provide useful attitude information, which means it have to be used together with MEMS accelerometer and magnetometer. Several sensor fusion algorithms, will be researched and tested, such as EKF, UKF and complementary filter, and the best one will be used to fuse measurement data from MEMS sensors.
MPC will be researched and tested in this project. The main strength of MPC is its ability to deal with constraints as well as with MIMO systems in a systematic way. Its main drawback is its high computational demands. The main research focus will be how to implement MPC on embedded platforms that control stepper motor in the range of milliseconds.
Publications in journals and conference papers may be found at VBN.