Ship gyro stabilization control method based on fuzzy immune controller at low speed

A technology of fuzzy immunity and control methods, applied in the direction of direct use of gyroscopes to reduce ship motion, adaptive control, general control systems, etc., can solve problems such as ship restrictions, ship capsizing, etc.

Inactive Publication Date: 2018-11-16
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The interference of sea waves has greatly restricted the use of ships. On the one hand, ships are in danger of capsizing in large waves

Method used

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  • Ship gyro stabilization control method based on fuzzy immune controller at low speed
  • Ship gyro stabilization control method based on fuzzy immune controller at low speed
  • Ship gyro stabilization control method based on fuzzy immune controller at low speed

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Experimental program
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Effect test

specific Embodiment 1

[0048] (1) Establishment of random wave model

[0049] In the 3rd International Ship Structure Conference, the wave spectrum used uniformly is the ITTC dual-parameter wave spectrum, which can simulate waves that are not fully grown. The wave spectrum of the present invention also uses this wave spectrum.

[0050] From the 1950s to the present, many oceanographers and related engineers have been exploring the learning of ocean waves. Under random conditions, they have observed and analyzed enough samples of ordinary ocean waves to obtain the spectral density that characterizes ocean waves. This wave is a two-dimensional long crest random wave model, also known as long crest wave or binary irregular wave. This wave is transmitted in one direction. Its troughs and crests are parallel to each other, and the direction is vertical. in the direction of the wave. This model is recognized by most scientists and scholars. On the ITTC in 1969, someone proposed the ITTC dual-parameter spe...

specific Embodiment 2

[0134] A ship gyro stabilization control method based on a fuzzy immune controller at a low speed, characterized in that: the steps are as follows:

[0135] Step 1: Establish a random wave model;

[0136] Step 2: The ship model under the low speed state, under the action of the random waves, obtain the corresponding roll angle of the ship through the measuring element.

[0137] Step 3: Establish a general model of the system, use the fuzzy immune control method to optimize the parameters of the controller, and apply the signal obtained by the measuring element to the controller to generate a corresponding control signal;

[0138] Step 4: Establish a single-frame control moment gyro dynamic model, and use two gyro stabilization devices to stabilize a working group, and apply the signal given by the controller to the gyro device, and then the gyro generates a corresponding torque to offset disturbance of waves;

[0139] Step 5: set up simulation model in the SIMULINK of MATLAB...

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Abstract

The invention discloses a ship gyro stabilization control method based on a fuzzy immune controller at a low speed, and belongs to the technical field of ships. The ship gyro stabilization control method comprises the steps that a random wave model is established; a ship model is established in a low speed state, and a corresponding rolling angle of a ship is obtained through a measurement part under the action of random waves; a system total model is established, and the parameters of the controller is optimized by using a fuzzy immune control method, and a signal obtained by the measurementpart is applied to the controller to generate a corresponding control signal; a single-frame control torque gyro dynamic model is established, two gyro stabilization devices are used for carrying outstabilization for one working group, the signal given by the controller acts on the gyro devices, and then gyros generate the corresponding torque to counteract the interference of the waves; and a simulation model is built in a SIMULINK of a MATLAB to verify the stabilization effect.

Description

technical field [0001] The invention belongs to the technical field of ships, and in particular relates to a ship gyro stabilization control method based on a fuzzy immune controller at low ship speeds. Background technique [0002] In ship maneuverability, ship motion control has always been one of the core issues. Among them, rolling is one of the most important causes of ship shaking. The interference of sea waves has greatly restricted the use of ships. On the one hand, ships are in danger of capsizing in large waves. [0003] The torque control gyro anti-rolling device in the present invention only needs to input a small torque to make the gyro device precess, and then it can output a large torque, so that the rolling motion of the ship can be suppressed. At the same time, the gyro anti-rolling device occupies a small space and is easy to install. What attracts the most attention is that it can produce a particularly good anti-rolling effect even at low ship speeds. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B39/04G05B13/04
Inventor 綦志刚原新孙伟星赵威陈缘惠久武
Owner HARBIN ENG UNIV
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