Study On Modeling And ADRC For Manoeuvering Motion Of POD Propulsion Ship

With the rapid development of the ship engineering, podded propulsion has been widely used in various type of ship. Podded propulsion makes it possible for ship power device in a pod rotated with 360 degree angle. It is a complex of propulsion and steering device, and the conventional rudder and shafting can be eliminated or simplified, thus the flexibility of ship design of construction and ship controllability have been greatly improved. In order to study of the pod propulsion and steering control, it is necessary to establish a mathematical model of this kind of ship. At present, the references about for the pod propulsion is less, The main research work completed as follows:(1) Based on the method of MMG modeling, considering the force and torque generated by the hull and pod, mutual interference between the hull and the two POD, and mutual interference of external wind and current disturbance, a mathematical model of the combined thrust and combined torque of POD propeller is established. Therefore, the mathematical model of podded propulsion ship has been established.(2) Studying on the maneuverability of podded propulsion ship. In order to verifying accuracy and rationality of this mathematical models, the author perform the simulation for its turning test and zigzag manoeuvering test taking the semi-submerged ship "TAIANKOU" as an example. The simulation results demonstrate that the model is effective and its accuracy and rationality is in the range of allowable error. In addition, it shows the advantages of podded propulsion ship manoeuvering by comparing with a twin-propeller twin-rudder ship.(3) The problem of the podded ship course control is discussed in the thesis. Auto Disturbance Rejection Control (ADRC) is useful for real time estimation and compensation of internal and external disturbance of the system. The active disturbance rejection controller is designed based on the principle and composition structure of ADRC. The effectiveness of the podded propeller ADRC heading control has been verified through simulation under different external conditions, comparing with the simulation results of the conventional PID heading controller.In summary, the mathematical model of podded propulsion ship established is inline with the requirements of precision engineering. ADRC heading control has been verified By comparing simulation analysis.