Twin-rudder synchronization control method of ship

A technology of synchronous control and ships, which is applied in the field of rudder control, can solve the problems such as the lack of information related to dual rudder synchronous control technology, and achieve the effects of improving hydrodynamic performance, improving control accuracy, and reducing synchronization errors

Inactive Publication Date: 2010-11-10
HARBIN ENG UNIV
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  • Abstract
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Problems solved by technology

[0003] After searching the existing technical literature, it was found that no information related to the dual rudder synchronous control technology was found

Method used

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  • Twin-rudder synchronization control method of ship
  • Twin-rudder synchronization control method of ship
  • Twin-rudder synchronization control method of ship

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Embodiment Construction

[0046] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0047] Such as figure 1 As shown, the present invention uses a rudder angle detection device for real-time rudder angle feedback, based on the variable domain self-adaptive fuzzy PID rudder angle deviation compensation closed-loop control scheme, and adopts a master / slave synchronous control strategy to realize dual rudder synchronous motion. The commanded rudder angle signals are respectively sent to the C1 rudder servo system and the C2 rudder servo system, and the C1 rudder angle and the C2 rudder angle are detected by the C1 rudder angle detection device and the C2 rudder angle detection device, and the C1 rudder is regarded as the master rudder, and the C2 rudder is regarded as the slave rudder , the deviation between the C2 rudder angle and the C1 rudder angle is sent as an input signal to the rudder angle synchronous compensation network based on variable u...

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Abstract

The invention provides a twin-rudder synchronization control method of a ship, comprising the following steps of: detecting the actual deviation of rudder angles of two rudders by taking the rudder angle of one rudder as a standard; acquiring a compensating command signal of the rudder angle of the other rudder through compensation network processing by taking an actual deviation signal as an input signal of a rudder angle synchronization compensation network, and inputting the compensating command signal into a servo system of the other rudder to form closed loop feedback control. The twin-rudder synchronization control method is suitable for the navigation and attitude control of the ship with the two rudders and enhances the accuracy and the sensitivity of twin-rudder synchronization because the compensation network can correct the deviation of the rudder angels in time when the deviation is generated between the two rudder angles.

Description

technical field [0001] The invention relates to ship navigation and attitude control technology, in particular to a rudder control method. Background technique [0002] In ship attitude control, heading control is the most basic, and heading control is mainly realized by controlling the steering movement. For a ship with two rudders, when the ship sails straight, in order to achieve the best hydrodynamic performance of the rudders, the two rudders should keep synchronous motion. When choosing a steering gear for an ordinary ship with double rudders, the solution usually considered is to use a pusher mechanism to drive two tillers to rotate through a connecting rod. Some special ship types cannot adopt the above-mentioned scheme, and the two rudders are required to rotate synchronously and no mechanical connection is allowed. Like this, each tiller handle just must be driven by independent rudder pushing mechanism. The synchronization of the two tillers is achieved by an e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 刘胜常绪成李冰李高云宋佳
Owner HARBIN ENG UNIV
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