Research On Intelligent Control Of Ship Track/Heading-Flap Vector Rudder

With the development and engineering application of more and more high-performance ships,the requirements for accuracy of ship motion control are further improved,and energy conservation and emission reduction of large ships has become a research hotspot.In this paper,the control algorithm of ship track/heading is studied.The high-efficiency and low-energy vector rudder is used as the control object,and the main rudder and wing rudder are controlled as two independent variables,and the vector rudder is fully utilized.Advantages: Through the research on the ship track/heading-vector rudder control mechanism,the ship track/heading controller is designed,and the ship track/heading-vector rudder intelligent control system is designed and completed.First,model the various aspects of ship motion control.Based on the general equations of ship plane motion,the state space equation of ship motion model and the mathematical model of ship function motion are discussed.The calculation formula of ship motion model parameters is given.The random environment interference of ship navigation Modeling and pushing out the forces and moments generated by waves,sea breeze and currents on ships;also discussing the models of servo servo systems commonly used in engineering applications.Secondly,the mathematical modeling of the hydrodynamic characteristics of the vector rudder is carried out.The definition of the vector rudder hydrodynamic coefficient is analyzed dynamically.The ship’s track heading is modeled by the neural network for the most important lift coefficient in the control.In order to improve the convergence speed of the network and the accuracy of the model,the genetic algorithm is used.The neural network is improved.At the same time,the vector rudder energy driving model is studied as the basis of the rudder angle/wing rudder angle distribution principle.Then,the ship heading-vector rudder intelligent control algorithm is studied.The ship’s heading robust controller is designed.According to the ship motion field model(Nomoto model),it is transformed into state space form,and the robust controller is designed.The rudder angle/wing rudder angle distribution rule is studied and improved.Finally,the genetic particle group algorithm is used to realize the rudder.Angle/wing rudder angle is intelligently assigned.Furthermore,based on the ship heading-vector rudder intelligent controller,the ship track fuzzy neural network controller is designed,including the realization of fuzzy logic system,the determination of God network structure and the study of learning algorithm to form a complete ship navigation.Track/heading-vector rudder intelligent control system.Finally,digital simulation is carried out for the designed control system to verify the feasibility and superiority.In the different sea conditions and different wave encounter angles,multiple sets of simulations were carried out to obtain the system variable track deviation,heading angle rudder angle and wing rudder angle curve and system energy,mean and standard deviation and other statistical data tables.And compared with the conventional rudder traditional PID control system and the common rudder fuzzy neural network control system,fully demonstrate the superiority of the system’s control performance and energy-saving performance.