基于变结构鲁棒性控制的船舶减摇鳍非线性系统研究

Study on nonlinear system of ship fin stabilizer based on variable structure robust control

随着远洋运输业的迅速发展,船舶运输货物的稳定性、安全性引起了广泛重视。受到海洋气象条件的影响(如海风、海浪、洋流等),船舶在航行时不可避免的产生横摇、纵摇等多自由度运动。其中,船舶大幅度的横摇运动会导致船载设备的故障和船载货物损坏,是必须要尽量降低的运动形式。减摇鳍作为船舶减少横摇运动的主要装置,可以有效减小船舶横摇幅度,但同时也受到船舶航行速度的限制,在速度较低时减摇效果不明显。本文针对船舶传统的减摇鳍机构,结合变结构鲁棒性控制技术,设计一种新型的船舶减摇鳍非线性控制系统,并对该系统的工作原理和结构组成进行系统介绍。

With the rapid development of ocean transportation, large cargo ship stability and safety has aroused widespread attention, is affected by ocean meteorological conditions(such as wind, waves, currents, etc.) on the voyage the ship inevitable rolling and pitching much freedom movement. Among them, the large roll motion of the ship will lead to the fault of the ship borne equipment and the damage of the cargo carried by the ship. As the main device to reduce rolling motion, fin stabilizer can effectively reduce the amplitude of ship roll, but it is also limited by the speed of ship sailing, and the effect of roll stabilization is not obvious when the speed is low. Based on the conventional ship fin stabilizer mechanism, combined with variable structure robust control technology, to design a new type of ship fin control system, the working principle and the structure and composition of the system is introduced systematically.