Rudder And Fin Joint Roll-damping Control Based On CAN Bus

Under the background of economic globalization and the rapid development of smart ships,ocean shipping has become an increasingly important part of international trade.In addition,communication technology is one of the key technologies for research and development of intelligent ships,so the performance of the communication system will directly affect the performance of the ship's control system.In order to improve the efficiency of maritime transportation,ensure the safety of the crew and cargo,and in order to enhance the stability of the ship's roll,this paper conducts research on rudder fin joint anti-roll control based on CAN bus.Based on engineering application,a fin stabilizer controller and a rudder fin joint anti-roll controller based on closed-loop gain shaping algorithm are designed.The stability analysis of the controller is carried out by Lyapunov stability theory,and the effectiveness of the controller is verified by digital simulation.The results show that the design process of the anti-roll controller based on the closed-loop gain shaping algorithm is simple,the controller parameters have clear physical meaning,good anti-roll effect,and have very good engineering application potential.By designing the CAN bus hardware circuit structure and application layer communication protocol,the system structure of rudder fin joint anti-rolling based on CAN bus is given,and the communication network is verified through physical experiments.The results show that the designed network communication system meets the control system's real-time and stability requirements for communication and has high engineering application value.The main work of this paper is as follows:(1)Lyapunov stability theory is used to analyze the stability of the stabilizer based on closed-loop gain shaping algorithm and the necessary and sufficient conditions for the stability of the stabilizer system are given.(2)Combining the autopilot and fin stabilizer,the rudder fin joint anti-roll controller is designed to further verify the effectiveness of the closed-loop gain shaping algorithm.(3)The design of the communication structure based on CAN bus rudder fin joint stabilization was carried out,the hardware structure of the system and the protocol design of the application layer were given,and the effectiveness of the system was verified through physical experiments.