UNCERTAINTYANALYSISSignaldecompositionschemeN=N+n,Nre=Nrco+nc.F,=Fro+frEngine&turbochargertorque linearapproximationQ=Qeo+[ge] qe.][n nte+e.o frQre=Qrco+[qre qrc.2][n nic]'+qrc.of,aQ(N,NeF)=Qmatqe=ON=N,@'(We.-N+Wrc.Nreo+Wr.Fro+W.)ZwWe.exp(We.-N。+Wre.Nrco +W.-Fro +W.)i=lqe,=qeo,+4qqrc;=rco, +4qrc.i1/DISTURBANCEANALYSISSignal decomposition schemeN=N+n, Nrc=Nreo+nc,Fr=Fro+frLoad torque &shaft inertia signalprocessingQ,(t) = Koo-N +2KgoN。-n(t)+Ng-ke(t) =QLo+2KooN-n(t)+N-ko(t)d,(t)=-N-kg(t)/I(t)(I-N)=N.2(4I)+1-N=didtN.(4I)+1, N, +41 N +1.i=dtI-N,+I-n+I.d.de()=-4()-N()+ N()(4(0)1()12at6
6 UNCERTAINTY ANALYSIS Signal decomposition scheme Engine & turbocharger torque linear approximation 0 0 0 , , N N n N N n F F f = + = + = + TC TC TC R R R [ ] [ ] 0 ,1 ,2 ,0 0 ,1 ,2 ,0 T E E E E TC E R T TC TC TC TC TC TC R Q Q q q n n q f Q Q q q n n q f ≈ + ⋅ + ⋅ ≈ + ⋅ + ⋅ 0 ,1 Emax 2 7 , 0 , 0 , 0 , , 1 , 0 , 0 , 0 , ( , , ) Q ( ) exp( ) E E TC R N N E i TC i TC R i R b i i E i i E i TC i TC R i R b i q Q N N F N W N W N W F W WW W N W N W F W Φ = = ∂ = = ⋅ ∂ ⋅ + ⋅ + ⋅ + ⋅ ⋅ + ⋅ + ⋅ + ∑ , 0, , , 0, , , E i E i E i TC i TC i TC i q q q q q q = + = + ∆ ∆ 11 DISTURBANCE ANALYSIS Signal decomposition scheme Load torque & shaft inertia signal processing 0 0 0 , , N N n N N n F F f = + = + = + TC TC TC R R R 2 2 0 0 0 0 0 2 0 0 0 0 ( ) 2 ( ) ( ) 2 ( ) ( ) L Q Q Q L Q Q Q t K N K N n t N k t Q K N n t N k t ≈ ⋅ + ⋅ + ⋅ = + ⋅ + ⋅ 2 ss 0 ( ) ( ) / ( ) Q d t N k t I t = − ⋅ ( ) tr 0 ( ) ( ) ( ) ( ) ( ) / ( ) d d t I t N t N t I t I t dt ∆ ∆ = − ⋅ + ⋅ ( ) ( ) ( ) 0 0 0 0 0 tr d d I N N I I N dt dt d N I I N I N I n dt I N I n I d ∆ ∆ ∆ ⋅ = ⋅ + ⋅ = ⋅ + ⋅ + ⋅ + ⋅ = ⋅ + ⋅ + ⋅ 12
POWER-PLANTMODELDECOMPOSITIONSignaldecompositionschemeN=N。+n,Nre=Nrco+ntcF,=Fro+frNominalNonlinearModel (N2M)N=[Qg(No,Nrco-FRo)Ko-N]/loNTco=Qre(Neo,NTco,Fro)/ ITcUncertain Perturbation Model (UPM)[(qe1 -2KcoN。)/1qe2/1qre.//rcqrc2/11o9r.0/11.[/, [18]1013HierarchicalshippropulsioncontrolNik. Xiros147
7 POWER-PLANT MODEL DECOMPOSITION Signal decomposition scheme 0 0 0 , , N N n N N n F F f = + = + = + TC TC TC R R R Nominal Nonlinear Model (N2M) Uncertain Perturbation Model (UPM) 2 0 0 0 0 0 0 0 0 0 0 0 [ ( , , ) ] / ( , , ) / E E TC R Q TC TC E TC R TC N Q N N F K N I N Q N N F I = − ⋅ = ( ,1 0 0 ,2 ) ,1 ,2 ,0 1 ,0 2 0 E Q E TC TC TC TC TC TC E R TC TC n n q K N I q I n n q I q I q I d f q I − = ⋅ + ⋅ + 13 Hierarchical ship propulsion control Nik. Xiros 14