A sliding mode control method for ship fin stabilizer based on disturbance observer
A technology of disturbance observer and control method, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as chattering, and achieve reduced system chattering, strong robustness, and vibration reduction good effect
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[0060] figure 1 is the flow chart of the fin stabilizer sliding mode control method. like figure 1 As shown, the ship fin stabilizer sliding mode control method based on the disturbance observer of the present invention specifically includes the following steps:
[0061] Step 1, according to the ship parameters, determine the ship roll dynamic equation as follows;
[0062]
[0063] Among them, φ is the rolling angle of the ship; M w is the wave disturbance moment, approximately, the wave disturbance moment M w Proportional to the wave inclination α e , namely M w = c 1 alpha e , c 1 is the moment coefficient; M c is the ship roll control moment generated by the fin stabilizer, approximately, the ship roll control moment M c and fin stabilizer angle α f linear relationship, that is, M c = bα f , b is the moment coefficient; (I+ΔI) is the sum of the rolling hull inertia moment and additional inertia moment; is the nonlinear damping coefficient model; C(φ) is th...
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