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Integrated roll stabilization controller

A controller and fin stabilizer technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problem of power consumption and achieve the effect of high efficiency and effective energy stabilization

Inactive Publication Date: 2017-07-04
HARBIN MIMI RICE IND TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The fin stabilizer is a kind of active anti-rolling equipment, which has special control circuit and equipment. The rotating fin stabilizer can generate a counter moment that adapts to the constantly changing disturbance torque of the sea waves, and the work consumes electric energy.

Method used

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  • Integrated roll stabilization controller
  • Integrated roll stabilization controller
  • Integrated roll stabilization controller

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] combine figure 1 , the definition of each link of the integrated anti-rolling system:

[0022] The encounter wave inclination angle between the ship and the sea wave: ;

[0023] Ship roll angle: ;

[0024] Stabilizer fin angle: ;

[0025] The equivalent wave inclination converted from the stabilizer fin angle: ;

[0026] Conversion factor from stabilizer fin angle to wave inclination angle: ;

[0027] Ship-cabin system letter: ;

[0028] Gyro transmission: ;

[0029] Pre-op amplifier transfer letter: ;

[0030] PID letter: ;

[0031] Letter from the fin follower system: ;

[0032] From the differential equation (2-31) of the ship-passive anti-rolling tank, the system transfer letter can be obtained:

[0033] ;

[0034] (1) Ship-water tank system specific communication:

[0035] (2);

[0036] (2) Angular velocity gyro motion equation:

[0037] (3);

[0038] in: , is the motor angular velocity;

[0039] is the moment of inert...

Embodiment 2

[0061] First, the mathematical model of the ship-fin stabilizer system and the ship-passive anti-roll tank system are analyzed to establish the mathematical model of the fin-stabilizer-passive tank stabilizer integrated anti-roll system.

[0062] Secondly, the interaction between the fin stabilizer and the passive anti-roll tank is analyzed.

[0063] Furthermore, the secondary performance index is established, and the genetic algorithm is used to optimize the parameters, and a variable parameter PID controller based on energy optimization is designed.

[0064] Finally, the control simulation of the specific experimental ship is compared with the traditional PID control.

[0065] The present invention also includes:

[0066] (1) Mathematical model of integrated anti-rolling system of fin-passive anti-rolling tank:

[0067] ;

[0068] in, ; ; ;

[0069] ; ; ;

[0070] (2) From the working principle of the water tank, its anti-rolling capability is determined...

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Abstract

The invention aims at providing an integrated roll stabilization controller which is applied to ship roll stabilization, can realize low energy consumption and can also achieve good roll stabilization capacity. Firstly, a ship-fin stabilizer system mathematical model and a ship-passive anti-rolling tank system mathematical model are analyzed to establish a fin stabilizer-passive anti-rolling tank integrated roll stabilization system mathematical model. Secondly, the mutual effect of a fin stabilizer and a passive anti-rolling tank is analyzed. Thirdly, a quadratic performance index is established; parameters are optimized by using a genetic algorithm; and a variable parameter PID controller based on energy optimization is designed. Fourthly, the specific experimental ship control is simulated and compared with the traditional PID control.

Description

technical field [0001] The invention relates to a ship anti-rolling controller, in particular to a comprehensive anti-rolling controller. Background technique [0002] Ships sailing at sea are disturbed by sea wind, waves, and currents, which will produce motions in six degrees of freedom, including roll, bow, and heave, among which roll motion is the most violent. Severe rolling motion will make the equipment on the ship not work normally, the deck will be flooded, and the crew will feel uncomfortable in work and life; for warships, it will affect the aiming of the artillery system, reduce the efficiency of soldiers on duty, and make the carrier aircraft unable to take off and land safely. In order to effectively reduce ship rolling, various anti-rolling devices have been invented, among which fin stabilizers, passive anti-roll tanks, anti-roll rudders, and bilge keels are more commonly used after considering cost and reliability. When designing, it should be based on the ...

Claims

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Application Information

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IPC IPC(8): B63B39/06G05D1/08
CPCB63B39/06G05D1/0875
Inventor 黄东梅
Owner HARBIN MIMI RICE IND TECH CO LTD
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