Rudder stabilizing method based on analytic model prediction control design

A predictive control and analytical model technology, which is applied to equipment that reduces ship motion, equipment that increases ship stability, and ships, etc. It can solve problems such as model parameter uncertainty, inability to effectively deal with model nonlinearity and parameter uncertainty, etc.

Inactive Publication Date: 2014-07-23
HARBIN ENG UNIV
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Problems solved by technology

However, traditional PID and LQG control algorithms cannot effectively deal with model nonlinearity and parameter uncertainty.
Analytical model predictive control is proposed for nonlinear models. It has the characteristics of easy modeling, rapid response, good control performance, strong robustness, and simple logic structure. However, in most cases, analytical model predictive control only solves certain problems. For the control problem of nonlinear nominal system, an improved analytical model predictive control method is proposed to solve the problem of nonlinear system model parameter uncertainty.

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  • Rudder stabilizing method based on analytic model prediction control design
  • Rudder stabilizing method based on analytic model prediction control design
  • Rudder stabilizing method based on analytic model prediction control design

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Embodiment Construction

[0031] The present invention is described in more detail below in conjunction with accompanying drawing:

[0032] The present invention is a ship rudder anti-rolling method based on analytical model predictive control design, comprising:

[0033] (1) Obtain various coefficients of the control object, including a 1 , a 2 , a 3 , a 4 , b and the boundary value m of the corresponding uncertain item i (i=1,2,3,4), b 1 .

[0034] Mathematical expression of the control object:

[0035]

[0036] in is the moment of inertia of rolling, is the rolling damping moment, is the roll restoring moment, is the roll angle, is the rolling angular velocity, is the rolling angular acceleration, K R =-I δz u 2 Y δyy δ,K D is the wave disturbance moment. I xx + J xx = W g [ ( 0.3085 ...

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Abstract

The invention belongs to the field of ship engineering, control science and control engineering, and relates to a rudder stabilizing method based on the analytic model prediction control design. The rudder stabilizing method comprises the step of acquiring various coefficients of a control target, the step of collecting rolling angle signals, the step of acquiring rolling angular speed signals, and the step of setting parameter initial values of a controller. According to the rudder stabilizing method, the boundness of uncertain items is fully utilized, analytic model prediction control is used, and the problem that the parameters of a rudder stabilizing control system are uncertain is effectively solved. Compared with other methods, the rudder stabilizing method has the advantages that stabilizing efficiency is improved. According to the rudder stabilizing method, the structure is simple. The rudder stabilizing method is easy to achieve and can meet the requirements of the actual engineering application very well.

Description

technical field [0001] The invention belongs to the fields of ship engineering, control science and control engineering, and relates to a ship rudder anti-rolling method based on analytical model predictive control design. 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, Rudder anti-rolling technology, as a new control idea, has received great attention at home and abroad 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 An important research topic in the field of control. [0003] At present, there are certain researches on the control of rudder anti-rolling system at home and abroad, but no lite...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B39/00
Inventor 彭秀艳贾书丽孙涛王显峰孙宏放
Owner HARBIN ENG UNIV
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