Rudder and fin combination stabilization method based on dual-control H to infinite design

Abstract

The invention provides a rudder and fin combination stabilization method based on a dual-control H to infinite design, which comprises the steps that a roll angle signal is acquired and initial control parameter values are set; a stabilization fin loop control output u1(t) is calculated by adopting the roll angle signal as an input; a sensitivity weight function and a control sensitivity weight function are determined, and a stabilization rudder loop control output u2(t) is calculated by adopting the roll angle signal as the input; an open-loop Nyquist characteristic of a system is drawn according to a rudder and fin combination stabilization object model and a synthetized rudder and fin control action; then whether the open-loop Nyquist characteristic meets an index requirement is judged; and if the open-loop Nyquist characteristic does not meet the index requirement, the control parameter values are readjusted till the open-loop Nyquist characteristic meets the index requirement. The rudder and fin combination stabilization method takes full advantages of actions of a rudder and a stabilization fin; with the adoption of the zero phase shift design on a rudder loop and a stabilization fin loop, stabilization effects synthetized by the rudder and the stabilization fin are superimposed; and the dual-control on the system is realized, so that the stabilization capability of a ship is improved greatly.

Description

technical field [0001] The invention relates to a ship control method, in particular to a ship anti-rolling method. Background technique [0002] When a ship is navigating at sea, due to environmental disturbances such as wind and waves, various swaying will occur, which will have adverse effects on the safety of the ship, equipment on board, cargo and crew, among which rolling is the most serious. The rudder fin joint stabilization is to use the existing rudder and steering system on the ship, and combine it with the fin stabilizer for control. This joint control of the rudder and fin can effectively compensate the fin stabilizer, and can greatly improve the anti-roll capability of the system while maintaining the heading control accuracy. While improving the overall anti-roll effect, it can also Reduce fin stabilizer action and noise, so that the ship's seaworthiness, safety and crew comfort are improved accordingly. At present, the research on the combined control of ru...

AI Technical Summary

Problems solved by technology

The controller given in this document is too simple, and there is no optimization adjustment in the selection of performance weight function, and the anti-rolling efficiency is relatively low

In 2004, Tanguy et al. published the article "Fin Rudder Roll Stabilization of Ships: a Gain Scheduling Control Methodology" on "Proceedings of the 2004 American Control Conference", using the gain calibration control method to design the closed-loop control of the ship rudder / fin joint stabilization system, but does not consider the effect of roll control on heading

Most of the controllers designed in the literature did not analyze the different dynamic characteristics of the fin stabilizer circuit and the rudder stabilizer circuit, and could only ensure the superposition of control effects, but could not guarantee the optimization of the comprehensive anti-roll effect and performance, and did not consider how to maximize Maximize the role of fin stabilizer and rudder

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