基于闭环增益成形算法的船舶减摇鳍控制器设计与分析

Design and analysis of ship fin stabilizer based on closed-loop gain shaping algorithm

为增强船舶横摇稳定性,并对其物理本质特性进行深入研究,以工程应用需求为基础,设计一种基于闭环增益成形算法的简捷、高效、鲁棒性强的减摇鳍控制器。首次采用李雅普诺夫稳定性理论对该控制器进行稳定性分析并给出其稳定的充要条件。将规则波和多向不规则波作为外界干扰对该控制器进行MATLAB仿真,验证该控制器的有效性。结果表明,该控制器设计过程简单,控制参数物理意义明确,减摇效果良好,具有十分良好的工程应用潜力。

In order to enhance the ship roll stability and study its physical properties deeply,a simple,efficient and robust fin stabilizer controller based on the closed-loop gain shaping algorithm is designed based on the engineering application requirements.The stability of the controller is analyzed by the Lyapunov stability theory for the first time,and the necessary and sufficient conditions for its stability are given.In order to verify the effectiveness of the controller,the simulation on the controller by MATLAB is carried out with the consideration of external disturbance produced by regular waves and multi-directional irregular waves.The results show that the controller is of simple design process,clear physical meaning of control parameters,good anti-rolling effect and good engineering application potential.