Researchers from the Middle East Technical University in Turkey have been exploring ways to improve the efficiency and durability of marine thruster systems. In a recent study, they compared two control strategies for managing the surge velocity of a thruster-driven marine system, with a focus on energy efficiency and actuator stress.
The study, led by Anıl Erdinç Türetken, Hakan Ersoy, and Aslihan Kartci, evaluated a model reference control (MRC) strategy against conventional PID controllers, which were tuned using metaheuristic algorithms. The goal was to assess not only the tracking performance of these controllers but also their energy usage and impact on the actuators. The research was conducted using a high-order model of a Blue Robotics T200 thruster with a 2 kg vehicle, under conditions that included an 8 N sinusoidal wave disturbance and white noise added to the speed measurement.
The results of the study, published in the journal “Ocean Engineering,” revealed that the optimized model reference control (MRC-R*) outperformed the PID controllers in several key areas. MRC-R* achieved the lowest control energy usage and produced the smoothest command signals, all while maintaining acceptable tracking performance. The internal model control (IMC)-based design also performed well, closely matching the results of MRC-R*. In contrast, the PID controllers, while achieving comparable root mean square (RMS) tracking error, did so at the cost of excessive actuator activity and energy use, making them less practical for real-world applications.
The findings of this study have significant implications for the energy sector, particularly in the realm of marine and underwater robotics. By implementing more energy-efficient control strategies like MRC-R*, companies can reduce the operational costs and environmental impact of their marine systems. Additionally, minimizing actuator stress can extend the lifespan of the equipment, further enhancing the economic and environmental benefits. As the demand for underwater exploration and monitoring grows, the adoption of such advanced control strategies will become increasingly important.
This article is based on research available at arXiv.