Research For Rudder Roll Stabilization Control Method Based On T-S Models

How better to reduce ship rolling is already a modern ship motion control field is a very important research topic. Due to ship on the sea will be affected by various factors, such as wind, waves, etc., ship motion will become very complicated, generally produce six degrees of freedom swinging motion. Under the condition of extremely bad sea conditions, ships at sea to run and work will have a great security threat. Rudder roll damping device, as a relatively new stabilizer, because unlike anti-rolling fin anti-rolling tank construction cost is high, occupy large volume, instead can reduce the cost of stabilizer, reduce takes hull space etc, and the domestic and foreign experts and scholars have carried out extensive research on the technology,and has been conducted on some ships install applications. Rudder roll reduction technology is applied to ship systems, has obtained the good effect, in guarantee the normal work of the equipment on the ship at the same time, also improve the adaptability and security of the people on the ship.The paper based on the movement characteristics of ship under complex sea condition and stress distribution,analyses the rudder roll reduction system,to establish a nonlinear ship model, and the wave disturbing force and torque has carried on the modeling and simulation.Then the rudder roll reduction control system design of the traditional PID controller, based on the system in the MATLAB simulation. In PID controller design based on t-s fuzzy theory,gives the design method of t-s fuzzy PID controller, and simulation verification,satisfactory damping effect is obtained. Fuzzy PID controller based on t-s model is the use of the advantage of t-s model, it is actually a kind of nonlinear controller, but in local USES a linear PID control. Therefore, the use of linear design to achieve nonlinear control.On the nonlinear ship lateral motion equation parameter uncertainty and steering gear amplitude saturation problem, based on the Takagi-Sugeno (T-S) fuzzy model, designed a class of T-S fuzzy controller is considered input limit. In order to achieve better damping effect, the design for a class of considering output limit of t-s fuzzy controller. Using the method of parallel distributed compensation (PDC) design of the control system of ship rudder roll reduction t-s model of fuzzy controller.Based on the Lyapunov stability theory,proved the closed-loop t-s fuzzy control system under the condition of global asymptotically stable. Based on this, puts forward the output with input constraints and restrictions of the linear matrix inequality (LMI) conditions.Limit controller input output constraints and restrictions of the constraint along with based on Lyapunov stability conditions respectively,feasibility problem is converted into linear matrix inequality (LMI), according to solve the linear matrix inequality (LMI) optimization method, to solve the fuzzy controller gain is given.Simulation results verify the feasibility and effectiveness of the TS fuzzy controller design method is introduced to limit the input controller at the same time reducing the roll angle of the rudder reduces the amplitude of the output, reducing the steering gear wear.The introduction of output limit controller gain better damping effect. This control method has important practical application value.