Ship rudder/wing rudder-fin/wing fin combined control method

Abstract

The invention provides a ship rudder / wing rudder-fin / wing fin combined control method. A course detection device and a rolling detection device respectively detect and transmit a ship course angle signal and a rolling angle signal to an information processing unit; a course / rolling robust controller is adopted in the information processing unit according to the ship course angle signal and the rolling angle signal to calculate needed course strengthening torque and rolling strengthening torque, respectively calculate needed rudder angle, wing rudder angle, fin angle and wing fin angle by a rudder angle / wing rudder angle distributor and a rudder angle / wing rudder angle distributor according to the course strengthening torque and the rolling strengthening torque and use the rudder angle, the wing rudder angle, the fin angle and the wing fin angle as the output of the information processing unit; a rudder servo system, a wing rudder servo system, a fin servo system and a wing fin servo system respectively accept a rudder angle demand signal, a wing rudder angle demand signal, a fin angle demand signal and a wing fin angle demand signal to drive a rudder, a wing rudder, fins and wing fins and effectively control the course and the rolling of a ship. The invention can improve the course control effect and the rolling stabilization effect of the ship.

Description

(1) Technical field [0001] The invention relates to a ship navigation and attitude control method, in particular to a rudder / fin joint control method. (2) Background technology [0002] In ship attitude control, course control is the most basic, no matter what kind of ship, in order to complete various missions, course control must be carried out. Ship heading control is mainly realized by controlling the steering movement. In addition, the rolling motion has a serious impact on the safe navigation of the ship, the comfort of the crew and the hit rate of the armament system. In order to effectively reduce the rolling motion, ship engineers have designed various anti-rolling devices. An effective measure for ship stabilization is the use of an active fin stabilizer system. [0003] In order to improve the maneuverability of the ship, a feasible method is to increase the camber of the rudder (fin), and the rudder / wing rudder (fin / wing fin) is to add a relatively independent ...

AI Technical Summary

Problems solved by technology

[0005] The existing control technology for rudder / wing rudder and fin / wing fin is to design the course control system and the roll stabilization system based on the ship yaw motion model and the roll motion model respectively, and the course and roll stabilization systems are not considered between the two systems. The coupling effect of rolling, and the anti-rolling ability of the rudder / wing rudder and the straightening ability of the fin / wing fin to the heading are not used, which greatly reduces the maneuverability of the ship

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