Rudder Roll Stabilization Predictive Control And Optimization

Due to the ship roll damping is small, in the wind and waves can produce severe rolling motion, so in the field of modern ship motion control how best to reduce ship rolling is a very important research subject. Rudder roll stabilization as a kind of active stabilizer, due to the realization of the advantages of low cost, small footprint, both at home and abroad has put more energy on the technical research, and has been successfully applied in testing result of the instance. Rudder roll stabilization has been applied on the ship, can very good control of roll damping problem, not only improved the seaworthiness of the ship and security, and guarantee the normal work of the marine equipment.In this paper, based on the movement characteristics of ship under complex sea condition,and its own force, nonlinear ship model is established, at the same time, detailed elaborated the wave disturbance torque and the method to get the wave disturbing force and calculation from the characteristics of the steering gear model.This article in view of the design of the control system of the rudder roll stabilization,have two kinds of control method is proposed, and the control method is applied to the nonlinear ship model, the verification, has achieved good effect.First of all, in the design of sliding mode variable structure control system, is based on single parameter for selection of pole and experience, so as to design the sliding mode surface is not the most reasonable, so based on pole assignment principle, put forward based on the integral performance index, using the simplex algorithm to optimize the design the sliding mode plane function, so that when the optimal design of switching function more reasonable,more ideal sliding mode surface. And applying it to the rudder roll reduction system in the simulation, the optimization of damping before optimization effect has greatly improvedSecondly, in view of the feedback linearization control of the problem of insufficient control accuracy, a analytical model predictive control is proposed. To predict the output of second order Taylor expansion time is equal to the relevancy and control order, and improve the calculation accuracy, at the same time on the premise of guarantee the closed-loop stability through routh criterion gets parameters of controllers. Compared with the feedback linearization, the feedback linearization control order time l is zero, the output of the Taylor expansion order only to p order, this limits the control precision, and the analytical model predictive control order can take to the great, the output of Taylor expansion on order to?+l order and improve the calculation accuracy. Compared with the feedback linearization,is adopted by the offline optimization design,greatly reduce the computing burden. Its application to nonlinear fin,the fin effect is good, to verify the effectiveness of the method.