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Ship rudder rolling-reducing control method

A technology of rudder anti-roll and control method, which is applied to the equipment to reduce the motion of the ship, the equipment to increase the stability of the ship, the parts of the ship, etc. It can solve the problem that the nonlinearity and parameter uncertainty of the model cannot be effectively handled.

Inactive Publication Date: 2014-07-02
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, traditional PID and LQG control algorithms cannot effectively deal with model nonlinearity and parameter uncertainty.

Method used

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  • Ship rudder rolling-reducing control method
  • Ship rudder rolling-reducing control method
  • Ship rudder rolling-reducing control method

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Embodiment Construction

[0076] like figure 2 As shown in , the roll angle signal output by the ship roll motion model is input to the high-gain observer, The input signal of the high-gain observer also includes the rudder angle signal actually output by the steering gear. The high-gain observer outputs the roll angular velocity signal and feeds it to the analytical model predictive controller; the analytical model predictive controller outputs the command rudder angle signal to realize ship rudder roll reduction. The roll angle signal output by the ship roll motion model is fed back to the analytical model predictive controller, and the input signal of the analytical model predictive controller also includes a desired roll angle command.

[0077] In the present invention, the improved analytical model predictive controller of ship rudder anti-rolling system receives expected roll angle information, high-gain observer information and system output roll angle information obtained by compass, outputs ...

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Abstract

The invention relates to a ship rudder rolling-reducing control method. The method is characterized by including performing mathematical description of ship rudder rolling reducing motions; inputting rolling angle signals output by a ship rolling model to a high gain observer; inputting rolling angular velocity signals output by the high gain observer to an analytic model predictive controller in a feedback manner; allowing the analytic model predictive controller to output command rudder angle signals, and realizing ship rudder rolling reduction.

Description

technical field [0001] The invention relates to the fields of ship engineering, control science and control engineering, in particular to a control method for reducing roll of a ship rudder. Background technique [0002] Due to the small damping of the rolling motion of the ship, the ship will produce severe rolling in the wind and waves. Excessive rolling will have a great impact on the navigation performance and safety of the ship. In order to ensure the safe navigation of the ship in complex sea conditions, As a new control idea, rudder anti-rolling technology has received great attention in recent years, and the design of anti-rolling device with rudder is simple, convenient and cheap. Therefore, rudder anti-rolling technology is an important part of the ship motion control field an important research topic. Ship motion is nonlinear in nature. From the ship motion environment and its own motion characteristics, it is difficult to obtain an accurate mathematical model, r...

Claims

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Application Information

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IPC IPC(8): B63B9/08B63B39/00
Inventor 彭秀艳贾书丽于亚坤孙涛王显峰
Owner HARBIN ENG UNIV
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