Rudder rolling stabilizing fuzzy controller with input constraint based on T-S model and control method thereof

Abstract

The invention belongs to the field of ship engineering, control science and control engineering and particularly relates to a rudder rolling stabilizing fuzzy controller with the input constraint based on a T-S model and a control method thereof. The rudder rolling stabilizing fuzzy controller comprises a T-S fuzzy controller module, a ship transverse motion reference model module, a yawing angular speed and rolling angular speed observer module, an analog module of a steering engine servo system and an analog simulation analysis module controlling effects. According to the rudder rolling stabilizing fuzzy controller with the input constraint based on the T-S model and the control method thereof, the influence on the performance of a closed-loop system especially the closed-loop stability by bounded control input is taken into consideration, in addition, after the design of the controller is introduced into the input constraint, abrasion on the steering engine can be relieved to a certain degree, and the rudder rolling stabilizing fuzzy controller with the input constraint based on the T-S model and the control method thereof better conform to the application of practical engineering.

Description

technical field [0001] The invention belongs to the fields of ship engineering, control science and control engineering, and relates to a fuzzy controller for rudder roll reduction with input constraints based on a T-S model and a control method thereof. Background technique [0002] When the ship is sailing, not only the yaw moment can be generated when the rudder is steered, but also the rolling moment can be generated at the same time, which can offset the rolling moment generated by the waves, so as to achieve the purpose of anti-rolling. As a new anti-rolling technology, rudder anti-rolling has attracted widespread attention for its excellent cost performance. The current research achievements include classical PID control, neural network control, LQG control, closed-loop gain control, robust control, predictive control and so on. [0003] In ship motion modeling, the ship's motion equation is always simplified linearly based on certain assumptions. In actual systems, ...

AI Technical Summary

Problems solved by technology

The steering gear is used as an actuator. When the steering gear hits a certain position, it can no longer be opened. That is, the amplitude of the steering gear is bounded as a control variable. This requires that the rudder angle output by the controller enter the steering gear. , should be as close as possible to or within the range of the steering gear amplitude setting, so as to avoid the rudder angle amplitude being too saturated, which will accelerate the wear and damage of the steering gear components, thereby affecting the control effect

Although this problem is often ignored in practical applications, in most cases, ignoring the input constraints in the controller design will lead to poor system performance and even instability.

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