舵鳍联合减摇与航向保持的非线性控制方法

The Nonlinear Control Method of Roll Damping and Course Keeping Using Integrated Rudder and Fins

为了研究船舶在固定航速下横荡、横摇和艏摇三个自由度运动的舵鳍联合减摇与航向保持控制问题,通过状态空间的划分,将状态含有绝对值的系统转化成为不含绝对值的切换系统,利用SOS(sum of squares)技术,分别设计了非线性状态反馈切换控制器和单控制器,并结合Lyapunov稳定性理论给出了闭环系统镇定的充分条件。仿真结果表明:在外扰的影响下,所设计的控制器使得船舶减摇效果明显,而且能够保持期望的航向。

This paper focuses on ship roll damping and course keeping control using integrated rudder and fins for the three degree-of-freedom motion of sway, roll and yaw with a constant speed. By splitting the state region into several regions, the system with the absolute value states was transformed into the switched systems without the absolute value states. By using SOS （sum of squares） technology, the nonlinear state feedback switched controllers and the single controller were designed. And, the sufficient conditions were given for the stabilization of the closed-system based on Lyapunov stability theory. The simulation shows that the ship roll damping obtains obvious effect and the ship can keep the desired course with the external disturbance by using the proposed controller.