Ship electric servo fin and wing fin rolling stabilization intelligent vector control method

Abstract

The invention relates to a ship electric servo fin and wing fin rolling stabilization intelligent vector control method. The method includes the steps that a rolling detection device detects a rolling angle, the rolling angle and the rolling angular velocity of a system are estimated through a state estimator, and values obtained by subtracting the rolling angle and the rolling angular velocity from set values are sent to a feedback linearization controller; output of the feedback linearization controller is corrected through a self-adaptive controller based on a fuzzy tree, and then required rolling righting moment is obtained; corrected output signals are namely output signals of a rolling stabilization controller and are sent to a fin angle and wing fin angle intelligent optimizer, wherein the rolling stabilization controller is composed of the feedback linearization controller, the self-adaptive controller based on the fuzzy tree and an error observer; the fin angle and wing fin angle intelligent optimizer conducts angle distribution, generates real-time fin angle and wing fin angle instructions and sends the real-time fin angle and wing fin angle instructions to a fin and wing fin electric servo system; the fin and wing fin electric servo system is based on vector control and drives a fin and wing fins to rotate, the required righting moment is generated, and then rolling stabilization control over a ship is achieved.

Description

technical field [0001] The invention relates to an intelligent vector control method for anti-rolling of ship electric servo fins and wing fins. Background technique [0002] Ships are easily affected by environmental factors such as waves and sea winds during navigation, resulting in severe rolling motions. The rolling of the ship directly affects the seaworthiness of the ship, and has many adverse effects, and even endangers the navigation safety of the ship. The most effective active anti-rolling device is the fin stabilizer. The early fin stabilizers mostly used integral fins. Due to the relatively small span, the fin angle was limited by the lift stall and cavitation, and for ships with two pairs of fins, The rear fin is affected by the downwash caused by the front fin, which reduces the lift of the rear fin, and the interference between the two fins directly affects the anti-rolling effect. [0003] At present, the control of ship fin stabilizers generally adopts ele...

AI Technical Summary

Problems solved by technology

The patent application number is 200710071664.7, and the patent application document named "Ship fin and rudder comprehensive coordination control device" discloses a fin / wing rudder comprehensive coordination control device; the patent application number is 200910071807.3, and the name is "Ship rudder / A joint control method is disclosed in the patent application documents of "wing rudder-fin / wing fin joint control method", but the vector control method of the electrically driven fin / wing fin is not given, and there are certain limitations in the application of the anti-rolling algorithm. limit

Images