Naeim Farouk et al.

/ International Journal of Engineering Science and Technology (IJEST)

SPEED CONTROL SYSTEMS ON MARINE DIESEL ENGINE WITH GENETIC ALGORITHM

Naeim Farouk
College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China Tel: +0086-18746027574, E-mail: naeem1950@hotmail.com

Professor. Liu Sheng

College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China E-mail: liu.sch@163.com Abstract The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. Impractical and dangerous to have a ship or boat without speed control mechanism fitted on it, and could lead to accidents such as collision or grounding. Traditionally, engine speed regulation is achieved using classical gain-scheduled PID control to address the variable operating conditions of the engine. In this paper we present a mathematical model to describe the rotation speed regulation process of a marine diesel engine and the parameters of PID controller are optimized by Genetic Algorithms (GA). The result of simulation shows that the Genetic Algorithms (GA) is able to improve operational reliability and efficiency of marine diesel engine. Keywords: Marine diesel engine, Genetic algorithms, Mathematical model, Simulation result. 1. Introduction Diesel engines have been widely used as power sources in practice. Diesel engine driven systems include automobiles, Ships, and backup power generating units, to mention a few [1]. The control of a diesel engine is accomplished through several components: the camshaft, the fuel injector, and the governor. The camshaft provides the timing needed to properly inject the fuel, the fuel injector provides the component that meters and injects the fuel, and the governor regulates the amount of fuel that the injector is to inject. Together, these three major components ensure that the engine runs at the desired speed. From control system point of view, a diesel engine can be considered as a speed-feedback system. After the operator gives a speed command through adjusting the governor setting, the engine governor which is also working as sensor, will recognize the difference between the actual speed and the desired speed, and regulate the fuel supply to maintain engine speed within range. The governor can be defined as a mechanical or electromechanical device for automatically controlling the speed of an engine by relating the intake of the fuel. Several types of governors exist as mechanical-hydraulic, direct mechanical type, electro hydraulic, electronic, and microprocessor based governors [2, 3]. This paper takes the rotation speed of marine diesel engine as the controlled object, and a type of genetic algorithm method aided with fault treatment algorithm is designed to improve operational reliability and efficiency of marine diesel engine. Diesel engine speed control systems as shown in Fig. 1.

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Figure.1 Speed control system of diesel engine

2. GA tuning of PID controllers An important issue to consider while designing a control strategy is that the performance of the controllers depends on the values of the controllers parameters. Moreover, the parameter values are connected to the system being controlled, i.e. changing the plant implies readjusting the controllers parameters. Conventionally, the designer, who attempts to find an acceptable controller solution, manually tunes these parameters by trial and error. However, this relies on the experience of the designer. If the designer is not experienced this process can become tedious and time consuming. In addition, there is no guarantee that the designed solution will perform satisfactorily as the tuning process depends on the qualitative judgment of the designer. A solution to this problem is to use optimization techniques that tune such parameters automatically. One of the most popular of these techniques is based on Genetic Algorithms [4, 5]. The advantages of GAs as optimization techniques have also attracted many researchers in the field of PID control as proved by the numerous references in the literature. This genetic approach tries to save the designer having to manually retune the results, as usually is the case when using the above-mentioned tuning methods (especially with non-linear plants). Also, the idea of the simplicity and wide applicability of GAs (since they do not depend of the plant characteristics) was appealing to the researchers [6]. In the field of marine control, however, the references to PID tuning using GAs are scarce [7, 8]. 3. Crossover operation In the two-point crossover approach, two genderless mating parents are selected at random by involving the random number generator, to identify the sites on the strings. The strings of 0s and 1s enclosed between the chosen sites are swapped between the mating strings. The number of crossover operations performed depends on crossover rate Pc . 4. Mutation operation A few members from the population pool are taken depending on the mutation rate Pm. By switching 0 and 1 at randomly selected substrings on the chosen string, mutation is simulated. The chromosome generated by the crossover or mutation operation is called offspring.

5. Selection of the next generation The procedure creates a new population from the present sample space. The space may consist of all parents and offspring or some other combination of parents and offspring [9, 10]. The mechanism for sampling can be stochastic, deterministic, or mixed. In stochastic sampling, the number of copies of a chromosome in the next generation is based on its survival probability of fitness [11]. Hollands [9] proportionate selection or roulette wheel selection is one example of this type of sampling. Deterministic sampling selects the best Np chromosomes from the sampling space. Truncation selection and block selection belong to this type of selection technique [12]. In another technique, No least-fit and old chromosomes are replaced by No offspring [13, 14]. Mixed sampling contains both random and deterministic features. Tournament selection and remainder stochastic sampling [15, 16] are examples of mixed sampling. The process of crossover and mutation followed by reproduction in one generation produces the next generation of the GA. After several generations, the GA is

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Naeim Farouk et al. / International Journal of Engineering Science and Technology (IJEST)

stopped and the individual string with the highest fitness value is taken as the optimum. Since the GA is a probabilistic search method, it is very good at finding the global maximum. Furthermore, GAs need only function values and not gradient information, which makes them easy to use for real systems where accurate gradient information is difficult to obtain, and local minima may occur. However, they are computationally expensive. 6. The Algorithm PID algorithm is described by:
t

e (t ) +

e (t ) + T T
i 0

de ( t ) dt

(1)

7. Mathematical model of marine diesel engine system The closed loop controller for speed control of diesel engine is, generally, as shown in Fig. 2.
t Clock To Workspace1

PID Step Add PID Controller

1 0.57 s2 +2.64 s+1 Transfer Fcn

1250 s2 +50 s+1250 Transfer Fcn 1

V To Workspace

Figure.2 Simulink model of marine diesel engine

The actuator of marine diesel engine is a direct current servomotor which is used for the control of diesel engine governor, and it is a typical second order system .The transfer function is described as:

H (S )
g

= H s + 2
2 d

nd nd

S + nd
2

(2)

Hg(S) is the link of given opening extent of fuel oil throttle. H(S) is link of actual opening extent of fuel oil throttle.

nd

Is the natural oscillation frequency of actuator. Is the damping coefficient of actuator. And its value is between 0.4 and 0.8.

The differential equation of marine diesel engine if without turbocharger is:

dy (t ) y (t ) = (t ) (t ) dt

(3)

Where, y (t) is the rotation speed of marine diesel engine, (t ) is the link of opening extent of fuel oil throttle,

(t ) is disturbance, Ta is the time constant of marine diesel engine and is the link of time delay of fuel oil throttle opening. And the corresponding Laplaces equation is described as:
Y (S )
S

(4) Where Y(S) is the Laplace transform of y (t), H(S) is the Laplace transform of (t), (S), is the Laplace transform of (t). In order to implement aspect of good dynamic response, taking

H (S ) (S )

1 T a S +1

=0.707,

nd

=35.4.

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8. Simulation and Result Ship with the host 12E390V, the main technical parameters is: Bore=390mm, rated speed = 480 rev/min, output power = 5292kw. The number of samples used for size=30. In this paper, the maximum of 100 generations of GA are used. The population size, crossover probability and mutation probability are chosen as 30, 0.75, and 0.02 respectively. The code implementing the algorithm in this study takes about 3-5 minutes to run on MATLAB with the full 100 generations of the GA. After 100 generations we obtained the optimal parameters of PID controller; Kp=13.8339, Ki=2.1971, Kd=3.8141.Fig. 3. Shows that the settling time is less and the system is almost no overshoot and strong robustness.
600 500

S p e e d ( r e v / m in )

400

300

200

100

0 0

2
5

10

12

14

16

18

20

Time (sec)
2 1.8 1.6 x 10

T o rq u e (N .M )

1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 2 4 6 8 10 12 14 16 18 20

Time (sec)
8000 7000 6000

P o w e r (K W )

5000 4000 3000 2000 1000 0 0 2 4 6 8 10 12 14 16 18 20

Time (sec)
Fig.3 Simulation results of diesel engine after application of GA

It can be concluded that the application of Genetic Algorithm (GA) to the rotation speed regulation of marine diesel engine is able to improve the transient process of system performance.

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Acknowledgements This paper is funded by the international exchange program of Harbin Engineering University for innovation oriented talents cultivation. References
[1] [2] [3] J. Jiang, Optimal Gain Scheduling Controller for a Diesel Engine, IEEE Conference on Control Applications, Vancouver, British Columbia, Canada, September 13-16,1993. Zheng-Ming Ge*, Ching-I Lee,Non-linear dynamics and control of chaos for a rotational machine with a hexagonal centrifugal governor with a spring, Journal of Sound and Vibration 262 (2003) 845864. G. S. Stavrakakis and G. N. Kariniotakis, "A general simulation algorithm for the accurate assessment of isolated diesel-wind turbines systems interaction. I. A general multimachine power system model," , IEEE Transactions on Energy Conversion, vol. 10, Issue. 3, Sept. 1995, p. 577- 583. Goldberg, D.E., Korb, B. and Deb, K. (1989), Messy Genetic Algorithms: Motivation Analysis and First Results, Complex Systems, Vol. 3, pp 493-530 . Holland, J. H. (1975), Adaptation in Natural and Artificial Systems, University of Michigan Press, Ann Arbor. Wang, P and Kwok, D.P. (1994), Optimal Design of PID Process Controllers based on Genetic Algorithms, Control Engineering Practice, Vol. 2, No. 4, pp 641-648. Alfaro-Cid, E., McGookin, E.W. and Murray-Smith, D.J. (2001a), Genetic Algorithm Optimisation of a Supply Ship Propulsion and Navigation Systems, Proceedings of the MTS/IEEE Oceans Conference, Honolulu (USA), pp 2645- 2652 Alfaro-Cid, E., McGookin, E.W. and Murray-Smith, D.J. (2001b), Genetic Algorithm Optimisation of a Ship Navigation System, Acta Polytechnica, Vol. 41, No. 4-5, pp 13-19 Holland, J. Adaptation in natural and artificial systems, 1975 (University of Michigan Press, Ann Arbor. Back, T. and Hoffmeister, F. Extended selection mechanisms in genetic algorithms. In Proceedings of the Fourth International Conference on Genetic Algorithms (Eds Belew and Booker), 1991, pp. 9299 (Morgan Kaufmann, San Mateo, California). Baker, J. Adaptive selection methods for genetic algorithms. In Proceedings of the Second Inter national Conference on Genetic Algorithms (Ed. Grefenstette), 1987, pp. 100111 (Lawrence Erlbaum Associates, Hillsdale, New Jersey). Thierens, D. and Goldberg, D. Convergence models of genetic algorithm selection schemes. In Parallel Problem Solving from Nature (PPSN III) (Eds Davidor et al.), 1994, pp. 119129 (Springer, Berlin). Whitley, D. GENITOR: a different genetic algorithm. In Proceedings of the Rocky Mountain Conference on Artificial Intelligence, Denver, Colorado, USA, 1989. Syswerda, G. Uniform crossover in genetic algorithms. In Proceedings of the Third Inter national Conference on Genetic Algorithms (Ed. J. Schaffer), 1989, pp. 29 (Morgan Kaufmann Publishers, San Mateo, California). Michalewicz, Z. A survey of constraint handling techniques in evolutionary computation methods. In Evolutionary Programming IV (Ed. McDonnell et al.), 1995, pp. 135155 (MIT Press, Cambridge, Massachusetts). Michalewicz, Z., Dasgupta, D., Le Riche, R. G., and Schoenauer, Evolutionary algorithms for industrial engineering problems. Int. J. Computers Ind. Engng, 1996, 30(4).

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