舵鳍联合控制参数优化及仿真

Parameters Optimization and Simulation of Fin/Rudder Roll Stabilization

船舶上装置的舵和减摇鳍系统分别完成航向和横摇减摇控制,但是两者之间存在着耦合,因此提出了舵鳍联合控制,实现多翼面的协调控制。建立船舶运动系统横荡、艏摇和横摇的三自由度运动、舵和减摇鳍的驱动控制、海浪干扰等数学模型,构建仿真环境。利用线性二次型最优控制理论设计舵和减摇鳍的联合控制器,并采用多目标优化手段确定舵速和鳍速参数,仿真表明,在不同的海况,以及船体不同航行状态下,都取得了显著的减摇效率,效果较减摇鳍单独减摇效果更佳,且能够保证良好的航向控制精度,说明舵鳍联合减摇有效地协调舵和鳍控制水翼的控制力和控制力矩。

Rudder and fin stabilizer are used to control heading and reduce ship rolling respectively. As heading control and roll stabilization couples each other, fin/rudder roll stabilization for ship is on the development and being researched to achieve coordination control of multi-surface. The mathematical model of three degree of freedom motion of sway, yaw and roll, drive control of rudder and fin stabilizer and wave interruption are established. The complex controller of fin/rudder roll stabilization is designed due to linear quadratic optimal control theory and the parameters of rudder speed and fin speed are confirmed by multi-objective optimization. The simulation indicates that better reduce roll effect in different sea conditions and various navigational status. The effect is better than fin lonely and meanwhile, the controller has a good performance in course keeping. It is proved that fin/rudder roll stabilization could effectively coordinate the control force and moment of rudder and fin stabilizer.