Intelligent position control of slider-crank mechanism in the ship´s propeller

A wide range of design efforts has been done and continue to be investigated in the development of slider-crank mechanism in the ship´s propeller. The position control of a slider-crank mechanism, which is driven by the piston cylinder actuator using a nonlinear control strategy to adjust the blade pitch angle, is studied. The Computed Torque Control (CTC) is an effective motion control strategy, which can ensure global asymptotic stability. However, this control scheme requires a precise system model. In addition, when the derivative gain is sufficiently large, a small amounts of measurement or process noise can cause large amounts of change in the output and even cause the process to become unstable. Therefore, to handle these issues, we proposed a Genetic Algorithm based CTC system that attempts to compensate any parameter deviation and disturbances as well as minimize the error by adjusting the PD gains. Computer simulations are carried out, and it is proved that asymptotically stability is achieved the results confirm the high tracking capability and effectiveness of the proposed control scheme.