Three-dimensional Simulation Of Ship Roll Stabilization Based On Multi-dimensional Taylor Network Optimal Control

Ships in the sea will be affected by various factors.These factors cause the ship to produce linear and rocking motion,in which the rolling effect is the most important.Severe rolling may have negative effects on the seaworthiness of the ship,and it is not safe to the personnel or property in ship.Therefore,in order to reduce the roll,the application of anti rolling device is indispensable,and fin stabilizer is one of the most commonly used equipment.In order to show the fin stabilizer system based on multi-dimensional Taylor network(MTN)optimal control in complex sea conditions to achieve effective disturbance stabilization effect,we design and develop a fin stabilizer control system for three-dimensional simulation research.In this thesis,a control method of ship stabilization based on MTN optimal control is proposed,and we use the MATLAB simulation data and 3D simulation technology,nonlinear ship model as the research object,to realize the 3D simulation of the ship roll reduction control based on MTN optimal control.Finally,we prove the superiority of the MTN optimal control theory by comparing the experimental data and visual experience to.The main contents include:1.In analyzing the formation of irregular waves,a mathematical model of wave interference is established.At the same time,through the analysis of six degrees of freedom dynamics model of the ship,Sway,roll and yaw three degrees of freedom simulation model of a ship is established.2.Founded on the principle of MTN optimal control,the MTN optimization controller of the ship roll stabilization system is designed,and the parameters of the controller are optimized by the simplex method.In addition,in order to prove the superiority of MTN optimal control,we design the PID controller and the sliding mode structure controller to carry on the contrast experiment.Finally we get the following conclusions:the MTN optimal controller can effectively control the ship roll in most cases;the SMC optimal controller is not only second only to the MTN one in effectiveness,but also needs the precise mechanism model;and the PID optimal controller is not good in most cases.3.Based on the analysis of 3D modeling technology,we choose MultiGen Creator software,and use texture mapping technology and instantiation technology to build a 3D solid model of a ship.We understand and utilize Vega Prime software to build a virtual marine environment.Then,the 3D solid model is imported into Vega Prime.Finally,real-time display of ship motion is realized by software.4.In order to further show the three-dimensional attitude of the ship,we use MFC to carry out secondary development of Vega Prime program;for realizing the function of data transmission in real-time,the server/client mode of socket is used to transmit the real-time data;In order to let users have a more rational understanding of the swaying of the ship,we use OpenGL to achieve real-time data display;for enhancing interactivity,the man-machine interface is designed.Finally,the 3D simulation system of ship roll stabilization is completed,and the superiority of the MTN optimal control can be verified by the difference of the 3D attitude of different controllers.5.The work done is concluded in this thesis,and the future work is prospected.