舵／鳍联合控制中舵速影响仿真研究  

Simulation Study on Influence of Rudder Angular Velocity in Rudder/Fin Control

作　　者：孙喜堂[1] 龙希伟[1] 赵加鹏[1] 宋春丽[1] 

机构地区：[1]中国船舶重工集团公司第七一八研究所,河北邯郸056027

出　　处：《舰船防化》2016年第1期50-56,共7页

摘　　要：为提高舵鳍联合控制在高海况下的船舶减摇效率和航向保持精度，讨论提高舵速对船舶横摇和艏摇的影响。通过建立船舶运动（横荡、横摇和艏摇）耦合的三自由度数学模型，分析舵鳍联合控制系统中舵速的影响机理。理论研究可知舵速是影响舵的有效攻角的一个影响因子，在实际的舵速范围内，舵鳍联合控制系统中舵速会导致舵的有效攻角增大，改变船的横摇和艏摇力矩而影响减摇效果和航向控制，但不会使舵失效。将二次型性能指标下的干扰抑制问题转化为H∞标准设计问题，完成状态反馈H∞控制器的设计。仿真结果表明，舵鳍联合控制比单独减摇鳍减摇具有更高的效率，一定范围内提高舵速能够改善首斜浪下船舶的减摇效果和航向控制精度。In order to increase the effect of roll stabilization and track keeping precision, the influence of rudder angular velocity on roll and yaw should be discussed. The paper established the coupled model （sway, roll and yaw）, and analyzed the theory of roll and yaw caused by rudder angular velocity. The theoretical study indicated that rudder angular velocity was one element of effective angle through calculation. In fact rudder angular velocity could increase the effective angle, changed the moments of roll and yaw, but that wouldn＇t make the angle reach the stall angle. The disturbance problem at the quadratic performance was transferred into Hoo design and the design of states feedback Hoo controller was completed. The simulation results indicated that rudder/fin control was better than fin alone at roll stabilization, increasing rudder angular velocity properly could improve roll stabilization and precision of track keeping at head waves.

关 键 词：舵鳍联合控制 舵速 有效攻角 舵失效 

分 类 号：U661[交通运输工程—船舶及航道工程]