Comprehensive re-setting control method for ship rudder stabilization

Abstract

The invention aims to provide a comprehensive re-setting control method for ship rudder stabilization, which comprises the following steps of: collecting a ship roll angle signal e(t); setting each control parameter initial value; by taking e(t) as input, calculating an output signal u1(t); by taking u1(t) as input, filtering high-frequency noise; weakening a spike caused by a nonlinear integral; calculating an output signal u2(t); by taking the u2(t) as input, calculating a closed loop feedback control signal u(t); drawing the open loop Nyquist graph and the closed-loop frequency characteristic of a system; judging whether a design index satisfies the condition or not, if not, regulating each control parameter value again; and calculating feedback output u(t) again until an index requirement is satisfied. According to the comprehensive re-setting control method for the ship rudder stabilization, which is disclosed by the invention, big phase lag caused by non-minimum phase characteristic in a rudder stabilization system is effectively solved, the comprehensive re-setting control method has the strongest disturbance attenuation capability on sea wave disturbance near the ship rolling resonance frequency, and therefore the system stabilization capability is greatly improved.

Description

technical field [0001] The invention relates to a ship control method, in particular to a ship anti-rolling control method. Background technique [0002] For a ship in navigation, due to environmental disturbances such as wind, waves, and currents, various swaying will occur, which will adversely affect the safety of the ship, equipment, cargo and crew on board. Among them, the rolling effect is the most serious. The main function of the rudder is to control the course, but the boat will have an initial inclination when steered until a steady state camber is reached, and this initial roll angle occurs before the boat enters any course motion. The specific principle is: when the rudder deviates from the center position, a lift - rudder force will be generated, because the size of the rudder is small, so this force is also very small, but because the rudder is installed at the bottom of the ship, the rolling moment it generates However, it is very large, and this rolling mom...

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Problems solved by technology

The article "A Robust Controller for Rudder Stabilization Design Using μ Analysis" published by Yang Chengen et al. in "China Shipbuilding" used the μ analysis method to design an H∞ controller to solve the problem of structural model uncertainty, although The rudder stabilization controller has a certain anti-rolling effect, but the disadvantage is that it will increase the yaw angle

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