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A Research on Marine Diesel Engine Speed Controller by Fuzzy Logic Control

Theory Based on Experimental Investigation

Article in Journal of Mechanical Engineering Research and Developments · March 2019

DOI: 10.26480/jmerd.02.2019.18.26

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 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26

Journal of Mechanical Engineering Research &

Developments (JMERD)
ISSN: 1024-1752 (Print)
DOI: http://doi.org/10.26480/jmerd.02.2019.18.26
CODEN: JERDFO

RESEARCH ARTICLE

A RESEARCH ON MARINE DIESEL ENGINE SPEED CONTROLLER BY FUZZY LOGIC

CONTROL THEORY BASED ON EXPERIMENTAL INVESTIGATION
Tien Anh Tran1,2*, Gaoussou Haidara3

1Facultyof Marine Engineering, Vietnam Maritime University, 484 Lach Tray, Ngo Quyen, Hai Phong, Vietnam
2Marine Research Institute, Vietnam Maritime University, 484 Lach Tray, Ngo Quyen, Hai Phong, Vietnam
3National School of Engineering, Abderhamane Baba Toure' (ENI-ABT), Mali

*Corresponding Author Email: trantienanhvimaru@gmail.com

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in
any medium, provided the original work is properly cited

ARTICLE DETAILS ABSTRACT

Article History:
Received 1 January 2019
Accepted 28 February 2019
Available online 4 March 2019
The marine diesel engine speed automatic controller has an important mission in the field of keeping the setting
speed constantly in the variable sea environment. Before, the conventional PID (Proportional – Integral –
Derivative) controller is being used popularly at present for marine diesel engine speed automatic control.
However, this is a traditional controller having some disadvantages such as the variable characteristics and
realizable degree are still low. In this article, a research on modern control theory has been referred as an effective
solution to restrict the drawback of conventional PID controller. Fuzzy logic control theory has been studied in this
research. The theoretical methodology of fuzzy control theory has been identified. A case of study has been adopted
by applying to fuzzy logic control in order to control marine main diesel engine speed when considering the
navigation environment of the ship. So as to gain an effective diesel engine speed control process then experimental
knowledge plays a vital role in control process. The authors have based on operational experience on some ships
associating with the experimental investigation from Chief Engineers to design fuzzy logic main diesel engine speed
controller. The modern diesel engine speed controller is more stabler than the conventional controller. The main
object of this research is diesel engine speed through simulating the diesel engine speed controller on
SIMULINK/MATLAB environment. The validation process of this control model has conducted on a certain bulk
carrier of VINIC shipping transportation company in Vietnam. The rotational speed controller and diesel engine are
numberred and simulated on SIMULINK environment. The results of this study indicate that proposal controller is
meaningful in the field of establishment of diesel engine speed controller. Furthermore, the design of optimal diesel
engine speed controller is useful to save the fuel oil consumption of marine diesel engine and decrease the harmful
exhaust gases emission nowadays. The study result will be brought the main diesel engine fuzzy controller realiably
and a basis of next research.

KEYWORDS

Experimental investigation, Fuzzy logic, Main diesel engine, Speed control

1. INTRODUCTION
In the initial time of control field, the power of the engine was proposed
by water wheels along with windmills. However, the big chance happened
when the steam engine appeared in the early 18th century as well as the
use of steam engine is a necessary and meaningful form that was crucial to
the success of the Industrial Revolution. Especially, the use of fly-ball
governor and centrifugal governor that brought some benefits in the field
of engine speed automatic control. This is the first governor that has been
invented as well as there are some different types of governor have been
applied nowadays.
Some researchers had been referred to use fuzzy logic control theory in
order to conduct controlling process for some different types of engine. A
researcher had used the fuzzy logic control to control diesel generator
speed along with introducing two analog control systems include rigid
feedback and constant speed feedback control system. The fuzzy control
system of the diesel speed has been represented by a researcher. The fuzzy
control method is feasible and better than the other methods [1]. A
previous researcher had given out two fundamental steps when designing
a control system [2]. Firstly, a methodology of Takagi-Sugeno (T-S)
structures has been applied. Secondly, fuzzy controller in PDC (Parallel
Distributed Compensation) structure has been represented and the
parameters of this controller have been collected from an LMI (Linear
Matrix Inequalities) minimization problem. A researcher had applied
fuzzy logic to the speed control of DC motor as a methodology to overcome
the shortcomings of conventional PID (Proportional – Integral –
Derivative) controllers [3]. The advantages of fuzzy logic control can be
applied to control nonlinear and complex systems that based on an
experimental operator or control engineering knowledge without any
mathematical model of the plant. A previous researcher had studied a
combinational strategy in order to control the engine speed in the gear
shifting process of Automated Manual Transmission (AMT) [4]. This
combination will overcome the shortcomings of time-optimal control and
fuzzy while maintains the advantages of both through a mode switch
mechanism in a combined controller. Pan W, et al had designed the fuzzy
ADRC (Active Disturbance Rejection Control) technique for marine main
diesel engine speed controller and fuzzy controller that have been used to
modify the ADRC parameters to improve the adaptive ability of active
disturbance rejection controller [5]. From research results have been
showed that the ship main engine speed fuzzy ADRC controller has a

Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26
strong robustness and speed switching is fast and smooth. The main
engine speed fuzzy ADRC controller can be achieved high precision speed
control. A recent study had proposed to use a fuzzy logic speed control
strategy and simulated it in aims with improving the efficiency of the
compressed air power system [6]. The fuzzy logic controller has been
applied in research by a researcher. This research will improve the
condition of air and eliminate exhaust gas pollution. A recent scholar had
studied the shift process of the automated mechanical transmission (AMT)
and put forward that the shift quality can be improved by controlling the
engine speed [7]. The engine speed control can be divided into up-shift
control and down-shift control. On the other hand, the fuzzy logic control
is applied widely in control system. A group of researchers had proposed
a fuzzy modeling to orient the design of a fuzzy controller for adjusting the
fresh airflow of a real diesel engine [8]. Tran, et al had been designed fuzzy-
PID logic controller for marine diesel engine [9]. Besides that, Particle
Swarm Optimization (PSO) method has been used to optimize the
membership function (MF) of diesel engine speed controller by Tran [10].
In addition, the diesel engine speed controller has also established
according to fuzzy logic control theory. A compound control between
linear active disturbance rejection control and nonlinear active
disturbance rejection control has been established by a researcher [11].
This combination process of controller would help to increase the stable
characteristic of marine diesel engine speed controller.
Additionally, there are some different diesel engine speed controllers
which had been designed by some methods such as sliding mode control
(SMC), H control theory, and model predictive control (MPC) theory. In
particular, the sliding model control theory has been applied in order to
establish the marine diesel engine speed controller [12-14]. On the other
hand, the H control method has also applied in order to design the marine
diesel engine speed controller [15,16]. There is another control method
which is called model predictive control theory. This method has also
Input
data
Fuzzification
Fuzzy input data
Figure 1: Block of Fuzzy Logic Control System
There are four blocks of a fuzzy logic control and represented in Figure 1.
The changing from the crisp input information fuzzy values corresponding
to each input fuzzy set with fuzzification section. In addition, the universe
of discourse of the input variables will be determined through the scaling
of correction. The scaling is necessary in order to control system with
other devices along with other ranges of input and output parameters.
Besides that, the inference engine will determine the fuzzy logic controller
operates along with the rule base for controlling the output parameters.
The combination will be converted into crispy values with the
defuzzification block. The output crisp value can be computed by the
center of gravity or the weighted average. The fuzzy control system is
based on rule system which is on expert knowledge and including fuzzy
sets and fuzzy algorithms. In summary, from Fig 1, fuzzy logic control
process will be conducted following function blocks. The first block is
fuzzification and membership functions that understands and
characterizes the system behavior by using knowledge and experience.
The second block is fuzzy control rule with designing directly the control
algorithm with fuzzy rules in which they describe the principles of the
controller's regulation in terms of the relationship between its inputs and
outputs. The last block is defuzzification to simulate and debug the design.
The value is in a range of 0 and 1 for the variable of fuzzy logic system. On
the other hand, the fuzzy system has been addressed these values and got
the values corresponding to completely true or false. In addition, the so-
called variables will be a linguistic variable and each linguistic variable will
be appointed with a certain degree of membership function. In practice,
membership functions have multiple different types such as the triangular
Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
applied to control marine diesel engine speed. The studies of model
predictive control theory have been conducted by some researchers in the
world [17-19].
In reality, there are a few researches concerning about applying fuzzy logic
control theory to marine diesel engine speed control when considering the
variable sea environment. Especially, the external elements in this
research are difficult to determine. The research object is marine main
diesel engine speed. This object has been suffered from the navigational
environment conditions like wind direction, wave height, amount of cargo
carried, etc. So, the fuzzy logic control theory has been used like a novelty
method to control marine main diesel engine speed. This article has been
proposed to apply the modern control theory like fuzzy logic control so as
to establish the fuzzy controller for marine diesel engine.
In this article, the main diesel engine speed automatic controller has been
studied by Fuzzy logic control theory. The content of this research is
divided into sections. Section 1, Introduction; Section 2, Fuzzy logic control
theory; Section 3, Diesel engine speed control bases on experimental
investigation; Section 4, Diesel engine speed controller by Fuzzy logic
control; Section 5, Results, and Section 6, Conclusion.
2. FUZZY LOGIC CONTROL THEORY
A researcher has proposed to use fuzzy logic control at University of
California in 1965 [20]. The concept of "linguistic variables" was first
defined into his research in 1973. The content of his paper has been
equated to a variable defined as a fuzzy set [21]. Fuzzy logic idea is similar
to the human being's feeling and inference process. Unlike the classical
control theory which is a point-to-point control, but the fuzzy logic control
has approached a range-to-point or range-to-range control.
Output
Rule base data
Defuzzification
Fuzzy output data
Inference
Engine
waveform, trapezoidal waveform, Gaussian waveform, bell-shaped
waveform, sigmoidal waveform and S-curve waveform [22]. In order to
choose an accurate type of membership functions needs to depend on the
actual applications. However, in this research case, it needs to have
significant dynamic variation in a short time so a triangular or trapezoidal
waveform would be utilized.
Whether the performance is not satisfactory then users only modify some
fuzzy rules and resume. Fuzzy logic control has been applied widely to the
control process through fuzzy linguistic descriptions [23,24]. In order to
process detail the inputs to get the outputs reasoning, there are six works
that need to do in applying to Fuzzy logic control theory. (Fig.2)
The first work needs to do identifying the input factors along with their
ranges. This work completely bases on experimental knowledge of fuzzy
logic control theory. The second work is also similar to the first work but
instead of determining the output factors. The output factors can include
one factor or more but, in this study, the output factor only has one factor:
diesel engine speed (n).
The third work must conduct to create the degree of membership function
for each input factor and output factor. The fourth work is an
establishment of the construct of rule base in aims with the controlling
system operates. The next work needs to give the action which will be
executed by assigning strengths to rule base of controlling system. The
final is a combination the rules and defuzzification of the output factor.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26
Identify the input factors and their
ranges
Identify the output factors and their
ranges
Create the degree of Membership
Function for each input and output
factor
Establish the construct of rule base that
control system operates
Decide the action will be executed by
assigning strengths to the rules
Combine the rules and defuzzify the
output
Figure 2: The steps to create fuzzy control system
2.1 Fuzzification
Fuzzification is established by the state variables representing the system
dynamic performance. The system dynamic performance consists of the
input variable signal to control. Fuzzy logic control theory uses the
linguistic variables such as low, medium, high, big, small, positive,
negative, zero, etc. instead of using numerical simulation method. The
fuzzification is known as converting a numerical variable (real number or
crisp variables) into a linguistic variable (fuzzy number). The fuzzy sets
are characterized by membership functions that cover all universe of
discourse. The triangular, trapezoidal, Gaussian, etc. are the different form
of fuzzy sets.
2.2 Rule base
The rule base is defined as If-Then format and called the conditional
control rule. Under supporting computer program that is able to execute
the rules and calculate a control signal. The calculation is definitely based
on the error (e) and change in error (de) of measured input signals.
2.3 Inference Engine
The inference engine or inference operation comprises an information
processing system such as a computer program. The inference engine is
similar to the human brain and evaluates the fuzzy rules. The output signal
is generated completely to base on each fuzzy control rule. There are
different types of the inference engine for example max-min method, max-
dot product, etc. [25].
2.4 Defuzzification
The defuzzification is a reversible process of fuzzification. In order to use
the fuzzy logic controller needs the output in a linguistic variable (fuzzy
number). Depending on real requirements, the linguistic variables must be
transformed to crisp output [26,27]. There are many defuzzification
methods, but the most common use methods are Center of Gravity (COG),
Bisector of Area (BOA), and Mean of Maximum (MOM).
3. DIESEL ENGINE SPEED CONTROL BASED ON EXPERIMENTAL
INVESTIGATION
The International Maritime Organization (IMO) studied in 2000, a variety
of methods that would reduce fuel consumption and Greenhouse gas
Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
(GHG) emissions. These methods were mainly categorized as technical
measures that included new ship designs, fuel improvements, and
maintenance of the hull as well as the propellers and operational measures
including weather routing, fleet planning, optimization of trim, ballast,
rudder pitch, reducing time in port and speed management. These studies
concluded to the fact that the most effective and immediate measure and
could be taken in order to reduce fuel consumption in order to reduce the
speed of the ship. Depending on the study suggested that a relatively small
reduction of speed results in the reduction of more than double the
pollution. Similarly, the research indicated that when speed is reduced by
20%, the reduction of CO2 emissions is close to 50%, a number that is
significant for environmentalists but for ship owners too, who would pay
fewer Pigovian taxes. But a mandate to reduce speed by 20% is not in the
interest of commercial ship owners, as there is a clash of interests: in one
hand that would pay fewer Pigovian taxes. On the other hand, shipping is
an industry whose profits result from trustworthiness and on time transit
times. For example, a ship carrying perishable cargo cannot reduce its
speed as the cargo will get destroyed. Also, modern ports have tight
logistics and if a ship arrives late. It can result in significant additional
costs that would be negating the aforementioned savings of fuel
consumption cost reduction.
First of all, to determine the fuel consumption of the main engine, we need
to find more about the influence on navigation environment to engine
operation. Besides that, the fuzzy logic controller has brought and applied
to ships, so we are drawing the model structure like this:
Increasing
Cmd Marine Diesel Navigation
Engine Constant
Environment
Decreasing
Navigation condition
Figure 3: Impact of navigation environment and main engine
In order to install the Fuzzy controller model in the Figure 1, it needs to
define the exact parameters for inputs, output and rule base. In realistic,
there are a lot of environmental outside factors affected. However, it can
be solved the issue in this research through identifying the general
navigation condition including normal sea, calm sea, and rough sea.
The first step is implementing Fuzzy logic to decide exactly the control
rules. For example, we want to design a simple proportional fuel
consumption of the main engine under navigation environment with input
elements impacted. A positive signal input for navigation environment
condition is calm sea. A negative signal input is a rough sea, and zero signal
input is defined when the environment condition does not change.
In figure 3, the Cmd is the target engine revolution speed. The navigation
conditions are collected from feedback sensors in monitoring the sea
environment. The error is between Cmd and navigation condition. In
particular, a positive engine speed signal is too fast depending on the
desired engine speed. A negative engine speed signal is too slow, and a
zero signal is presented when there are no changes of the engine speed.
The output signal needs to approach appropriately the fuel rack handle
control position. The ship speed has been assumed constantly when the
fuel rack handle position is fixed. It will set at a certain position. So, the fuel
rack handle will outline the results such as increasing, decreasing or no
changes of the fuel.
4. DIESEL ENGINE SPEED CONTROLLER BY FUZZY LOGIC CONTROL
The fuzzy logic controller uses membership functions for each input
variable and output variable to define the degree which crisp physical
values according to terms of a linguistic variable set. The modeling of main
diesel engine speed controller by fuzzy logic control has been represented
in Fig.4.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26

diesel engine speed automatic control has been presented. Speed error
Load and variable speed error
d ( speed ) are input signals of fuzzy controller.
d (speed ) dt
Speed error will be compared with reference speed and speed feedback
dt Engine Speed (n) signal that took from output source of the diesel engine (revolution on
Fuzzy Controller Diesel Engine engine speed).

Error
(Speed)
Figure 4: Modeling of diesel engine speed control by Fuzzy logic controller
The fuzzy controller includes functional blocks (fuzzification, rule base,
inference engine, and defuzzification). It had been described in Fig 1.
Hence, the fuzzy logic controller consists of three elements namely
fuzzification, fuzzy inference engine (rule base) and defuzzification.
In order to conduct the fuzzy control process, the definition of speed error
(e) and variable speed error (de) like as the input signals of the fuzzy
controller. The two inputs-one output fuzzy logic controller has been
designed for this research. The input values to the fuzzy logic controller
are speed error (e) =(set-point speed – measured speed)/set-point speed,
and variable speed error (de)=(present speed error- previous speed
error). Besides that, the output signals of fuzzy controller must also be
determined as engine speed. The linguistic set of e, de, and engine speed is
NB, NM, NS, ZO, PS, PM, PB. The experimental method has been applied to
establish the rule base of fuzzy logic controller (Table 1).
In where: NB = Negative Big, NM = Negative Medium, NS = Negative Small,
ZO = Zero, PS = Positive Small, PM = Positive Medium, PB = Positive Big.

The fuzzification conducts to convert the real number input values into
fuzzy values. The fuzzy inference engine processes in progress the input
data and calculates the output data based on IF and THEN rules. The real
numbers of output values will be converted into the defuzzification
process.
In this research, the objective of controlling process is a diesel engine
speed. In fact, marine diesel engine operates in hard condition under
impacting on navigation environment such as the wind, wave, tidal
current, etc. All external factors will be made the instability of engine
speed when it operates. Diesel engine speed is a significant parameter,
which will decide the engine working states in condition of the variable
external loads. Furthermore, fuel consumption of engine always associates
with engine speed. In a result, diesel engine speed controller is necessary
to make the effectiveness of marine diesel engine. In Fig.4, the modeling of
The discourse universe of input signals and an output signal is a range of
[-1,1]. In addition, triangular membership function has been adopted as
the membership functions of input signals and an output signal of fuzzy
controller respectively in Fig.6, Fig.8, and Fig.9. Furthermore, the fuzzy
inference engine is a main part of the fuzzy logic controller because it
comprises both the experimental knowledge and decision-making logic. In
then, the experimental knowledge includes a database with necessary
linguistic variables (rule sets) and decision-making logic is applied to
decide which control actions to be selected. The inference process of the
fuzzy logic control relates to the fuzzy state (e) and (de) of the fuzzy logic
controller that leads to the decisions about varying main diesel speed (n)
in the fuzzy logic controller. Moreover, the decision-making logic uses IF
and THEN rules to decide appropriately the main diesel engine speed (n).

Table 1: Control rules of diesel engine speed by fuzzy logic control

e
NB NM NS ZO PS PM PB
de

NB PB PB PM PM PS ZO ZO

NM PB PB PM PM PS ZO ZO

NS PB PB PM PS ZO NM NM

ZO PB PB PM ZO NM NB NB

PS PM PM ZO NS NM NB NB

PM ZO ZO NS NM NM NB NB

PB ZO ZO NS NM NM NB NB

Since each input signal of the linguistic set has seven members including speed (n) is PB.
NB, NM, NS, ZO, PS, PM, PB then the control rule construction of fuzzy
controller will include 49 rules and they have been described in Table 1. 3. If Speed error (e) is NB and Speed error variable (de) is NS then Engine
speed (n) is PB.
On the other hand, the fuzzy controller has two input signals then the
antecedent of each control rule will have two parts. The equation "And" 4. If Speed error (e) is NB and Speed error variable (de) is ZO then Engine
will be used to combine the two parts of the antecedent to gain a signal speed (n) is PB.
number that represents the result of the antecedent for that rule. So, the
result will be applied in the implication process to achieve the fuzzy set of
the output. The implication method has been used as "And". It means that 5. If Speed error (e) is NB and Speed error variable (de) is PS then Engine
the minimum value will be compared in aims with obtaining the desired speed (n) is PM.
output value in the fuzzy control process. The implication process will be
implemented for each rule in fuzzy control rules. ........................................................................................................
48. If Speed error (e) is PB and Speed error variable (de) is PM then Engine
1. If Speed error (e) is NB and Speed error variable (de) is NB then Engine speed (n) is NB.
speed (n) is PB.
49. If Speed error (e) is PB and Speed error variable (de) is PB then Engine
2. If Speed error (e) is NB and Speed error variable (de) is NM then Engine speed (n) is NB.

Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26

x

Figure 5: Fuzzy logic control inference

A control rule can be regarded as an implementation between speed error

(e) and variable speed error (de) in order to gain desired main diesel
engine speed (n) of Operators. Furthermore, the implementation of the
inference mechanism in this study has been using Mamdani's minimum
operation Rc like as Fig. 5.
-1 Negative 0 Positive 1

Rc : Outputi =1,mi  i (1) Figure 7: Range and characteristics of membership function

Where:
 i is the weighting factor, it is the measure tool of the contribution of the
ith rule to the fuzzy control action.
 i can be expressed like this:
i = ei  dei (2)

The output of fuzzy inference engine is a fuzzy set on the output universe
of discourse and converts into non-fuzzy (crisp value).

The defuzzification process uses the center of gravity (COG) method in this
research. The output value is computed from equation of center of gravity
(COG) method.

  (w ).w
i =1, m
n i i

Output (n) = (3)

  (w )
i =1, m
n i
Figure 8: Membership function of engine speed variable d(e)

Where:
m is the number of elements in output control fuzzy set;
wi is the support member value of the ith element;
is the value of membership function grade of the ith element.

Figure 9: Membership function of engine speed output control

5. COMPARISON FUZZY LOGIC CONTROLLER WITH PID CONTROLLER

PID (Proportional – Integral - Derivate) controller is used widely for
Figure 6: Membership function of speed error (e)
marine diesel engine speed control nowadays. The performance of marine
diesel engine is variable according to the certain PID parameters. These
The membership functions of speed error, variable speed error, output
parameters include gain, integral, and derivate constant especially they set
have been described in Figure 6, Figure 8, Figure 9. In reality, the
under the nature and dynamic characteristics of the controlled process.
membership functions of input and output also have seven membership
The comparison with PID controller and fuzzy controller based on the
functions for speed error, variable speed error, and output speed along
modeling of marine diesel speed control system is similar. In particular,
with their characteristics are NB, NM, NS, ZO, PS, PM, PB. They stand for
the modeling of PID controller will be represented in Fig.10 and fuzzy
Negative Big, Negative Medium, Negative Small, Zero, Positive Small,
controller had been showed in Fig.4.
Positive Medium, Positive Big. Each membership function has a certain
range that is a range of [-1,1].

Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26

t
de(t )
u (t ) = K p e(t ) + K i  e(t )dt + K d
Load

Set point Engine Speed (n) 0

dt
(4)
PID Controller

Fuel Link Marine Diesel Engine t
1 de(t )
+
- = K p e(t ) +  e(t )dt + T
 Ti 0 dt
In where: Kp is the proportional gain, Ki is the integral gain, Kd is the
derivative gain, Ti is the integral time constant, and Td is the derivative
time constant.
Measuring Transducer
6. RESULTS AND DISCUSSIONS

Diesel engine speed automatic control system plays an important role in

Figure 10: Modeling of diesel engine speed control by PID controller
The difference between PID controller and fuzzy logic controller has been
represented that PID controller uses the advantages of PID algorithm
including three elements: Proportional, integral and derivate. This
combination will cause a good controller by conducting the correction of
the error in the controlling process. PID controller needs to be designed
exactly mathematical modeling.
On the other hand, the fuzzy controller has been established mainly based
on operational experiences in aim with designing the rule base and range
of membership functions of inputs and outputs. However, PID controller
uses the sum of three elements: proportional, integral, derivate and
represents the output of PID controller u(t) through Equation (4).
the field of controlling in aim with maintaining diesel engine speed
constantly in operational condition. In fact, the operational condition is
always variable under external factors including the wave, wind, load, etc.
These external factors will cause the dramatical changes about diesel
engine speed especially marine main diesel engine speed driving screw
propeller. Throughout this research, Fuzzy logic controller has been
established in order to keep the setting speed of operators on board. In
addition, the diesel engine speed is maintained constantly then the fuel oil
consumption rate of the main engine will be kept at optimal level. It will
ensure to reduce fuel consumption of diesel engine both bringing an
economical value and improving the environmental pollution.

Figure 11: Diesel engine speed control rules

In Fig.11 has been described the diesel engine speed control rules by using parameters and output parameter to generate the control rules of diesel
the Fuzzy logic controller. Each control rule is a combination of input engine speed controller.

Figure 12: Surface rule of diesel engine speed control

The fuzzified values for the outputs of the rules were classified into in aim with adjusting diesel engine speed following the desired speed. The
membership sets that they were similar to the input values. The output of fuzzy output was defuzzified to a crisp value of penetration length by
membership functions could be used triangular in this research like Fig.9 means of the widely used the center of gravity method.

Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26

Furthermore, the control surface rule has been represented in Fig.12 with
the crisp value of penetration depth at different positions of diesel engine
speed control following the external conditions impact. On the other hand,
each intersection point has been determined the different diesel engine
speed value throughout Fuzzy logic controller. Each position in the surface
of diesel engine speed will help engineers and operators outline diesel
engine speed control process through the design of the fuzzy sets, rule-
based and membership functions of the fuzzy logic controller. Finally, the
surface plot will identify a practical means of output values for main diesel
engine speed control corresponding to each combination of input
parameters. Moreover, the trajectories of speed error (e) have been
showed in Fig.13. If the marine diesel engine speed decreases gradually
then the speed error (e) of marine diesel engine will have the trend of
increase following the positive direction and vice versa.

Figure 13: The trajectory of speed error (e)

On the other hand, this research has identified the advantages of the fuzzy
logic control method in the field of determining the stability of a class of
the marine diesel engine speed. The results have showed that each
different operation condition of marine diesel engine will respond to a
certain speed position. This proposed method is very convenient and
useful for users since it does not need to establish exactly the
mathematical algorithm comparing with other methods. Besides that,
some the existing related results have been shown that other researchers
had tried to propose different methods in aim with designing the stable
control system. For example, Li and Li have presented the stability of a
class of uncertain nonlinear strict-feedback systems through using an
adaptive neural tracking control strategy [28]. The backstepping
procedures with barrier Lyapunov functions (BLFs) must be designed to
eliminate the effects of the nonlinear system. Liu, et al has used an adaptive
feedback constraint controlling for nonlinear systems based on the full
state constraints and unknown parameters [29]. However, this method is
Table 2: Specification parameters of MAN B&W 7S80MC-C
very complex in the system design process. The full state constraints are
the time-varying and asymmetric. Hence, all the signals of the closed-loop
system and tracking error are asymptotic stable. In addition, a researcher
had proposed the novel BLFs (Barrier Lyapunov Functions) associated
with Nussbaum gain technique to maintain all the signals in the closed-
loop system are stable [30].
To evaluate this fuzzy diesel engine speed controller, the controller
platform has been carried out for certain diesel engine with speed setting
value as the reference input signal. The marine diesel engine of MAN B&W
7S80MC-C with 7 cylinders has been performed in this research. This
diesel engine has been installed on bulk carrier of VINIC shipping
transportation company in Vietnam. The specification parameters of
marine diesel engine have been showed in Table 2 and Figure 14.

Type of Engine 2 Cycle, Signle Acting, Crosshead, Exhaust Gas Turbo-Charged Marine Diesel Engine (Man B&W
7S80MC-C (Mark 7))
Brake Horse Power (kW) 18,620
R.P.M (rpm) 70.6
FO Consumption (g/kWh) 160.9
Number of Cylinder 7
Cylinder Bore (mm) 800
Piston Stroke (mm) 3,200
Type of Turbo-Charger Axial Flow, Model: TCA66

(a) M/V NSU JUSTICE (b) Diesel Engine (Man B&W 7S80MC-C)

Figure 14: M/V NSU JUSTICE 250,000 DWT

Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26
Figure 15: The model of diesel engine speed control by Fuzzy logic
In figure 15, the scheme of diesel engine speed control has been
represented through Simulink/MATLAB program. The specific
parameters of diesel engine on M/V NSU JUSTICE 250,000 DWT have been
established through this model. The mathematical model of diesel engine
has been numbered when applied into Simulink/MATLAB program. The
diesel engine speed controller had been designed in section 4 and
admitted into these models (Figures 15,16) based on SIMULINK/MATLAB
simulation program.
Figure 16: The simulink model of diesel engine speed control by
PID logic theory
Figure 17: The trajectory of diesel engine speed control by PID controller
Cite The Article: Tien Anh Tran, Gaoussou Haidara (2019). A Research On Marine Diesel Engine Speed Controller By Fuzzy Logic Control Theory Based On
Experimental Investigation. Journal of Mechanical Engineering Research & Developments, 42(2): 18-26.
Figure 18: The trajectory of diesel engine speed control by
fuzzy controller
In order to validate appropriately the diesel engine speed controller
by fuzzy logic theory method, a comparison between this model with
diesel engine speed controller by PID control theory method. The model
of diesel engine speed control by PID theory method has been
represented in Figure 16. The diesel engine speed controller includes
elements: sensor, amplifier, soft feedback control, hard feedback control.
These elements are traditional group that most of longer ships have been
equipped. However, the accuracy control level of this controller is low
relative. The trajectory of speed error of PID controller has been showed
in Figure 17.
In reality, when there is a control signal of speed error of diesel engine
that compares with the setting speed then the time of control process is
over 1 (s). However, the diesel engine speed controller by fuzzy logic
theory method will response at once when having a speed error signal
(Figure 18).
Furthermore, the diesel engine speed controller using fuzzy logic control
theory method seems to be stabler than PID theory control method. The
characteristic of speed error of diesel engine speed control used
fuzzy logic control method always keeps at fixed point during the control
time. In addition, the accurate control process of fuzzy controller has
been represented clearly in Figure 18 and this research has solved the
problem of diesel engine control by fuzzy logic control theory method
along with experimental conditions on bulk carriers.
7. CONCLUSION
This article contributes on establishing marine main diesel engine speed
controller by applying Fuzzy logic control theory. With the fuzzy
logic controller, it has been employed simple membership
functions and optimal fuzzy rules to represent a diesel engine
speed control when considering external navigation conditions. The
characteristic curve of speed error is linear and having the decrease
trend according to Figure 13. Based on an advantage of the fuzzy
logic control theory includes robustness and speed, fuzzy logic
controller for adjusting diesel engine speed has proved that it is the
best solution for system modeling and control insteading of the
traditional PID (Proportional-Integral-Derivative) engine speed
controller. The fuzzy logic controller has been used membership
function values of input parameters and output parameters along
with controlling rule base "IF-THEN" respectively. The validation of
fuzzy diesel engine speed controller is more reliable when this
controller has been installed on a certain vessel in Vietnam.
Furthermore, this fuzzy diesel engine speed controller has been
compared with PID logic diesel engine speed controller. Throughout the
results, the control characteristic of fuzzy logic controller is more
advantage than PID traditional controller. When the external load
impacts on diesel engine speed and then this diesel engine speed
controller will regulate more quickly and reliably than traditional
diesel engine speed controller through SIMULINK environment
(Figure 18). From this research results, the fuzzy logic controller
could be completely applied for all ships nowadays with its
advantages after verifying on a certain bulk carrier (M/V NSU
JUSTICE 250,000 DWT) of VINIC shipping transportation company
in Vietnam.
 Journal of Mechanical Engineering Research & Developments (JMERD)42(2) (2019) 18-26
ACKNOWLEDGEMENT
The authors want to give a kindly thank Prof. Xinping Yan at Key
Laboratory of Marine Power Engineering & Technology (Ministry of
Transportation), School of Energy and Power Engineering, Wuhan
University of Technology, 1178 Heping Avenue, Wuhan 430063, P.R.China.
In addition, the authors thank to Prof. Peng Dewei, Lab 408-School of
Computer Science and Technology, Wuhan University of Technology,
Wuhan 430063, China.
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