Switching control method for ship stabilization controllers in multiple sail poses

Abstract

The invention provides a switching control method for ship stabilization controllers in multiple sail poses, and belongs to the field of ship control. The switching control method has the advantages that rolling movement with six degrees of freedom can be carried out by ships when the ships sail on sea surfaces, and includes the most severe rolling movement; the rolling power spectral density (PSD) corresponding to the ships is different to a certain extent when the speeds and wave-direction encounter angles of the ships are different, parallel multi-model decision-making related theories areintroduced, the rolling power spectral density (PSD) is used as a reference basis, the most appropriate controllers are designed and are selected under disturbance of different sea conditions, and thecorresponding controllers are pertinently adopted for the rolling movement of the ships in the different sail poses as far as possible; rolling power spectra are used as decision-making bases, parameters of sub-controllers are optimized by the aid of genetic algorithms, accordingly, the ship stabilization controllers can be optimized in integral work environments as compared with the traditionalstabilizer fin controllers only capable of realizing good effects in a certain work environment, and stabilization effects can be greatly enhanced.

Description

technical field [0001] The invention relates to a control method for actively reducing the rolling motion generated by a ship navigating on the water surface under multiple navigation states, and belongs to the field of ship control. The present invention designs a roll state selection controller by introducing parallel multi-module related theories, uses the roll power spectrum as a decision basis, and controls the roll motion of ships in different navigation states. Background technique [0002] Ship swaying refers to the periodic oscillating motion of a ship near its equilibrium position under the action of wind and waves. The swaying of the ship mainly has the following six forms: [0003] (1) Rolling - reciprocating shaking around the longitudinal axis of the ship; [0004] (2) Pitching - reciprocating shaking around the transverse axis of the ship; [0005] (3) Swing—reciprocating shaking around the vertical axis of the ship; [0006] (4) Heave - up and down recipr...

AI Technical Summary

Problems solved by technology

[0010] (1) Impact on ship performance: severe rolling may cause the ship to lose stability and capsize, pitching and heaving will cause the propeller to fly, resulting in a decrease in speed

Severe swaying increases the resistance of the ship; the condition of the propeller deteriorates, making it difficult to maneuver the ship

[0011] (2) Impact on ship structure and equipment: when the ship shakes, impact will occur, which will cause additional stress in the hull components and damage some components

Swaying can cause waves on deck and damage equipment and structures on deck

[0012] (3) The swaying of the ship will affect the normal work of mechanical equipment, instruments and meters; at the same time, it will cause seasickness of the crew and passengers, which will deteriorate the working and living environment; it will also cause cargo movement or collapse, resulting in cargo damage

The traditional fin stabilizer controller can only achieve better results in a certain working environment, but it cannot achieve the optimum in the entire working environment

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