Study N ADRC For Maneuvering Of Large Twin-propeller Twin-rudder Ship

Taking the Triple E super large twin-propeller twin-rudder container ship as the research object, this paper has systematically conducted research on establishment of mathematical model of maneuvering motion, maneuverability simulation analysis and application of improved active disturbance rejection control technology. This paper has finished the following research work.(1) Taking the Triple E super large twin-propeller twin-rudder container ship as the research object, according to mechanism of MMG modeling, the author analyzes the force of hull, twin-propeller, twin-rudder and mutual interference factors. The author establishes mathematical model of ship maneuvering motion with three degrees of freedom for twin-propeller twin-rudder ship, considering the influence of wind and current. The model’s validity is verified by completing turning test and zig-zag test. Ship maneuverability is studied and analyzed under several different operating conditions when two propellers rotate at the same speed and different speed. The author can come into the conclusion from the simulation results, that the twin-propeller twin-rudder ship has more flexible maneuverability.(2) In this paper, the study is focused on the large twin-propeller twin-rudder ship maneuvering control problem. The active disturbance rejection control technology is used in the design of the twin-propeller twin-rudder ship’s course controller. According to the basic principle of active disturbance rejection control, the author designs a linear active disturbance rejection control controller and a nonlinear active disturbance rejection control course controller and makes simulation experiment under both ideal condition and interference condition. The simulation results show that two active disturbance rejection control controllers can effectively control course.(3) For the precision problem of the above conventional active disturbance rejection control, the author uses fuzzy control algorithm to optimize parameters of active disturbance rejection control, designs a fuzzy linear active disturbance rejection control and a fuzzy nonlinear active disturbance rejection control and makes simulation experiment. The control effect of fuzzy optimal parameter active disturbance rejection control is obviously better than that of conventional active disturbance rejection control, with faster response speed, higher control precision and stronger robustness. For the controlled object, twin-propeller twin-rudder ship, that exists obvious difference on scale and displacement, the author applies the controller designed on a smaller scale rescue ship. The simulation results show that parameters of the controller have wide adaptability. The controller can effectively control different ship objects and presents good adaptability.