Design And Simulation Of Rudder Roll Stabilization Adaptive Controller

With the globalization of the world economy,the closer business contacts between countries have promoted the vigorous development of maritime shipping industry,but also brought many problems,such as the speed of navigation is greatly limited by various disturbances such as sea breeze,waves,currents,which will affect not only the maneuverability of ships,but also the cargo and personnel on board.Safety.Therefore,rudder roll stabilization technology is one of the most important topics in ship and ocean engineering motion control.At present,the technology of rudder roll reduction is becoming more and more mature at home and abroad.The control effect of rudder roll reduction is better in large and medium-sized ships.The purpose of rudder roll reduction can be achieved through specific devices.Roll and bow roll are the main control objects.Because of its low price,easy to use,and small space occupied,it is widely used.Firstly,this paper analyses the motion characteristics and forces of rudder stabilizer system under complex sea conditions,establishes a Four-Degrees-of-Freedom non-linear ship mathematical model,and considers and analyses the disturbance of wave disturbance force and disturbance moment on ship hull,and establishes the non-linear model of rudder.Then two PID controllers are used to control roll and yaw respectively in the whole rudder roll stabilization system.The model is established by MATLAB/Simulink and verified by simulation.Secondly,based on the PID controller and the hierarchical fuzzy control theory,an adaptive hierarchical fuzzy PID controller is designed.The horizons of rolling error and error rate of variation are stratified,and then different horizons are controlled.The simulation results show that the control effect is satisfactory.Hierarchical Fuzzy-PID Controller mainly uses the advantages of Fuzzy Controller to overcome the characteristics of non-linear model and uncertainty.Therefore,the linearized design is used to realize the control of the non-linear legal person.Then,aiming at the problem of dead-time adjustment,steady-state error and steady-state tremor caused by the quantization of input and output in fuzzy control.In this paper,a linear interpolation algorithm is proposed to optimize the internal fuzzy controller of the hierarchical fuzzy PID controller.The simulation results show that the roll reduction rate and the yaw reduction rate are improved.Finally,in order to further improve the control effect on the basis of hierarchical fuzzy PID controller,a control method combining ant colony optimization algorithm and adaptive hierarchical fuzzy PID algorithm is designed.In order to improve the control accuracy,steady-state performance and robustness of the system,an optimization strategy based on ant colony optimization technology for internal fuzzy controller is proposed in this paper.The first stage is to optimize the input and output variables of the range;the second stage is to optimize the membership function;and the third and fourth stages are to optimize the rule base and the rule weight.The control effect of the adaptive hierarchical fuzzy PID controller optimized by ant colony algorithm is better than that of the traditional PID and fuzzy control algorithm.