减摇鳍变参数最优控制器及其设计

DESIGN OF OPTIMAL CONTROLLER OF FIN STABILIZER WITH VARIABLE PARAMETERS

为了减小船舶横摇运动参数、船舶航向和海浪扰动的变化对减摇鳍性能的影响,减摇鳍PID控制器的参数k_1、k_2和k_3应随之变化。文章提出了变参数PID控制器的原理,在此基础上提出了一种变参数最优PID控制器的设计方案,并对此设计方案进行了计算机仿真。仿真结果表明了当船舶自然横摇周期和无因次横摇衰减系数变化时,在各种浪向下,具有变参数最优PID控制器的减摇鳍都有很好的减摇效果。

The PID controller with variable parameters k_1, k_2 and k_3 is applied in this paper. The design principle of the variable parameters controller is introduced. An optimal index of the control system with variable parameters PID controller is presented using H∝ control theory. A design scheme of the variable parameters controller is proposed, The simulation results show that the roll reducing effectiveness of the fin stabiliser with the variable parameters controller is better than the traditional one when the ship natural roll period T_0, roll decay coefficient n and heading to wave direction are varied, especially in the quartering sea.It can still obtain higher roll reducing effectiveness.