船舶双舵同步补偿控制  

Synchronous-ballistic control for a twin-rudder ship

作　　者：刘胜[1] 常绪成 李高云 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2010年第12期1631-1636,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(51079033;60704004);中央高校基本科研业务费专项资金资助项目(HEUCFR1009;HEUCFZ1025)

摘　　要：采用双舵配置的船舶,两套舵伺服系统结构参数和电气参数等具有一定的差异.在航行过程中,将会导致船舶双舵的同步误差增大、舵效降低、操纵性能变差.为了减小双舵同步误差,本文阐述了一种模糊变论域同步补偿控制方法.为此首先对舵机系统进行了机理建模,然后借鉴主从控制策略提出了双舵同步补偿控制系统结构,针对PID适应性差的问题,引入变论域模糊控制思想,进一步设计了变论域模糊PID双舵同步补偿控制器.最后仿真结果表明所设计的控制器有效地减小了双舵同步误差、提高了船舶航向稳定性,该方法在船舶双舵同步控制中切实可行,具有工程指导意义.In a ship with twin-rudder,the structure parameters and electrical parameters are different in two steering gear systems.During the navigation,the error between the angles of the twin-rudder will be increased;and the efficiency of rudder power and ship maneuverability will be reduced.To reduce the error between the angles,we propose a synchronous-ballistic control approach based on fuzzy logic with variable universe.Firstly,the theoretical model of steering gear system is constructed.Secondly,the structure of the synchronous-ballistic control system of twin-rudder is developed based on the master-slave control strategy.Thirdly,fuzzy logic with variable universe theory is introduced to improve the adaptability of PID;thus the variable universe adaptive fuzzy PID synchronous-ballistic controller is designed.Finally,the simulation results show that the error between angles of the twin-rudder can be effectively reduced and the stability is automatically improved by the designed controller.This method is valid and reliable for synchronizing control of twin-rudder and is significant for engineering application.

关 键 词：船舶 双舵 同步补偿 模糊 变论域 

分 类 号：U664.82[交通运输工程—船舶及航道工程]