Intelligent system for reconfiguring the redundant structure of ship actuators without disturbance

The object of the research is the processes of automatic reconfiguration of the redundant structure of actuators to another aim function without creating disturbing forces and torques.Traditionally, redundant structures have been used to increase the reliability of the control system.At the same time, control redundancy also allows you to optimize control processes and increase the efficiency of the control system.For different aim functions, the settings of redundant structures are different.When the aim function changes, the structure is reconfigured, which is accompanied by the emergence of disturbing forces and torques.The work has developed a reconfiguration method (the "zero motion" method), which allows you to reconfiguration of the structure without disturbing forces and yaw moment.The results obtained are explained by using the on-board computer of the control system to determine the controls for reconfiguring the structure to a new aim function, by solving an optimization problem with equalities and inequalities in the on-board computer.Constraints of the equalities type allow finding control of reconfiguration of the structure that do not create disturbing forces and yaw moment, and constraints of the inequality type take into account the physical limitations of the parameters of the structure and controls.The developed method allows for optimal tuning (reconfiguration) of the structure against the background of the main functional task.The performance and efficiency of the developed method were verified by mathematical modeling in the MATLAB environment.The results obtained are reproducible and can be used in the design of automatic control systems for redundant structures of ship actuators.