Dynamic anti-saturation ship stabilization control method and system

Abstract

The invention provides a dynamic anti-saturation ship stabilization control method and system. The dynamic anti-saturation ship stabilization control method includes the steps that the amplitude and speed saturation states of a fin actuator are obtained; stabilization control over a ship is realized according to the amplitude and speed saturation states of the fin actuator; when no saturation occurs to the fin actuator, a dynamic anti-saturation controller is designed, a fin is driven to rotate, and stabilization control is finished; and when saturation occurs to the fin actuator, the dynamic anti-saturation controller is corrected and optimized, judgment on the amplitude and speed saturation states of the fin actuator is carried out again through an unconstrained robust controller until no saturation occurs to the fin actuator, the dynamic anti-saturation controller is designed, the fin is driven to rotate, and stabilization control is finished. When the ship stabilization fin system actuator has the work condition of amplitude and speed saturation states, through the combined action of the unconstrained robust dynamic output feedback controller and the dynamic anti-saturation controller, the fin angle saturation rate is lowered, and the system stabilization performance and robustness are guaranteed.

Description

technical field [0001] The invention relates to the technical field of ship motion attitude control, in particular to a dynamic anti-saturation ship anti-rolling control method and system. Background technique [0002] The rolling damping of the ship is small when sailing, and violent rolling motion will be generated in the wind and waves. The rolling motion of the ship will have many adverse effects. Severe rolling motion will cause the shipboard equipment to fail to work normally, damage the cargo on board, and even endanger the navigation safety of the ship; Work efficiency; for warships, rolling will also affect the hit rate of the armament system and so on. The ship fin stabilizer is recognized as the most effective active control anti-rolling device. [0003] When the ship sails on the sea with strong wind and waves, there will be severe rolling motion, so that the fin actuator often works in a saturated state. At present, when designing the control law of the fin s...

AI Technical Summary

Problems solved by technology

At present, when designing the control law of the fin stabilizer system in engineering, there is no special design for this saturation condition, so the anti-roll effect is not ideal in high sea conditions, and even makes the system run unstable. The anti-saturation loop of the ship is equivalent to an open-loop system, so the anti-saturation control strategy of the system should be considered at the beginning of the design of the ship's fin stabilizer control system, so as to ensure that the system has satisfactory anti-saturation control performance in complex sea conditions, and the anti-saturation The research of control technology appears to have extremely important engineering application value

[0004] Therefore, the technical defect in the prior art is: when the control design of the fin stabilizer system is carried out, the saturation condition is not considered, which makes the anti-roll effect under high sea conditions unsatisfactory and makes the operation of the ship system unstable

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