Comprehensive re-setting control method for ship rudder stabilization

A control method and control algorithm technology, which can be applied to equipment that reduces the motion of ships, equipment that increases the stability of ships, ships, etc., and can solve the problems of uncertain structural model and increased yaw angle.

Inactive Publication Date: 2013-03-06
三亚哈尔滨工程大学南海创新发展基地
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  • Abstract
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  • Application Information

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Problems solved by technology

The article "A Robust Controller for Rudder Stabilization Design Using μ Analysis" published by Yang Chengen et al. in "China Shipbuilding" used the μ analysis method to design an H∞ controller

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  • Comprehensive re-setting control method for ship rudder stabilization
  • Comprehensive re-setting control method for ship rudder stabilization
  • Comprehensive re-setting control method for ship rudder stabilization

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Embodiment Construction

[0048] The present invention will be described in more detail below in conjunction with the accompanying drawings:

[0049] combine Figure 1 to Figure 4 , the present invention comprises the following steps:

[0050] Step 1: Collect the ship roll angle signal e(t), and set the initial value of each control parameter.

[0051] Set the feedback coefficient ω p The initial value is 0.01rad / s, the differential time constant τ 1 =1 / (1.62ω p )≈61.73s;

[0052] Set the filter time constant T f The initial value is 0.1;

[0053] Set the adjustable gain coefficient k 0 The initial value is 1, and the corner frequency is 1 / T 1 and 1 / T 2 The initial values ​​are 10rad / s and 2rad / s respectively.

[0054] Step 2: Take the ship roll angle e(t) as the input, and use the reset control algorithm based on nonlinear integration (clegg integration) and differential compensation to calculate the output signal u 1 (t).

[0055] combine figure 2 , the specific implementation process o...

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Abstract

The invention aims to provide a comprehensive re-setting control method for ship rudder stabilization, which comprises the following steps of: collecting a ship roll angle signal e(t); setting each control parameter initial value; by taking e(t) as input, calculating an output signal u1(t); by taking u1(t) as input, filtering high-frequency noise; weakening a spike caused by a nonlinear integral; calculating an output signal u2(t); by taking the u2(t) as input, calculating a closed loop feedback control signal u(t); drawing the open loop Nyquist graph and the closed-loop frequency characteristic of a system; judging whether a design index satisfies the condition or not, if not, regulating each control parameter value again; and calculating feedback output u(t) again until an index requirement is satisfied. According to the comprehensive re-setting control method for the ship rudder stabilization, which is disclosed by the invention, big phase lag caused by non-minimum phase characteristic in a rudder stabilization system is effectively solved, the comprehensive re-setting control method has the strongest disturbance attenuation capability on sea wave disturbance near the ship rolling resonance frequency, and therefore the system stabilization capability is greatly improved.

Description

technical field [0001] The invention relates to a ship control method, in particular to a ship anti-rolling control method. Background technique [0002] For a ship in navigation, due to environmental disturbances such as wind, waves, and currents, various swaying will occur, which will adversely affect the safety of the ship, equipment, cargo and crew on board. Among them, the rolling effect is the most serious. The main function of the rudder is to control the course, but the boat will have an initial inclination when steered until a steady state camber is reached, and this initial roll angle occurs before the boat enters any course motion. The specific principle is: when the rudder deviates from the center position, a lift - rudder force will be generated, because the size of the rudder is small, so this force is also very small, but because the rudder is installed at the bottom of the ship, the rolling moment it generates However, it is very large, and this rolling mom...

Claims

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Application Information

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IPC IPC(8): B63B39/00
Inventor 刘彦文綦志刚高振国许保同李栋良梁利华张松涛
Owner 三亚哈尔滨工程大学南海创新发展基地
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