摘要
针对船舶减横摇控制问题,本文基于自航船模水动力模型,采用动态校正的最优控制原理,建立随航速自动调度的最优舵速和鳍速状态反馈最优控制器、状态观测器和动态校正器,以某型自航船模为应用对象,完成了恶劣海况下的水池试验验证。试验结果表明,与舵-航向控制和鳍-减横摇分别控制算法相比,提出的舵鳍联合最优控制算法,在保证航向控制性能指标的同时,可提高机动航行的横倾控制能力和恶劣海况下的减横摇控制效果。
Aiming at ship anti-rolling control problems,based on the self-propelled dynamic model,this paper adopted the optimal control of dynamic correction,and established the optimal rudder speed and fin speed feedback controller,state controller and dynamic corrector that are automatically dispatched with the ship speed.Taking a certain type of self-propelled ship model as the application object,the pool test under severe sea conditions has been completed.The test result shows,compared to individual control algorithm of rudder-heading control and fin-roll reduction control,the proposed joint optimal control algorithm of rudder-fin can guarantee the heading control performance index,as well as improve the heel control capability of maneuvering and roll reduction control effect under severe sea conditions.
作者
任元洲
郭建
王亚森
刘浩
郭亦平
REN Yuan-zhou;GUO Jian;WANG Ya-sen;LIU Hao;GUO Yi-ping(Jiujiang Branch of Tianjin Nautical Instrument Research Institute,Jiujiang 332007,China;Marine Design and Research Institute of China,Shanghai 200011,China)
出处
《舰船科学技术》
北大核心
2022年第14期52-56,共5页
Ship Science and Technology
关键词
减横摇
舵鳍联合
自航船模
最优控制
动态校正
roll reduction
rudder fin joint
self-propelled ship model
optimal control
dynamic correction
作者简介
任元洲(1982−),男,高级工程师,主要从事舰船操纵自动化技术研究工作。
