A Ship Rudder Stabilization Method Based on Analytical Model Predictive Control Design
A predictive control and analytical model technology, which is applied to equipment for reducing ship motion, equipment for increasing stability of ships, ships, etc., can solve the problems of uncertain model parameters, inability to effectively deal with model nonlinearity and parameter uncertainty, etc.
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[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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