基于航速保持的舵减摇控制方法  

Method for rudder roll stabilization control by maintaining ship speed

作　　者：刘志全[1] 金鸿章[2] 

机构地区：[1]上海海事大学航运技术与控制工程交通行业重点实验室,上海201306 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《中国舰船研究》2017年第1期128-133,共6页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51279039)

摘　　要：船舶航行受阻力影响引起航速和能量损耗。研究船舶在静水和波浪中的附加阻力,给出船舶航行时的总体航速损失的计算方法。设计带有航速损失约束的自动舵控制系统,依据舵角协同控制方法设计航向和舵减摇滑模控制规律。综合讨论"航向"与"航向+减摇"两种工作情况,包括横摇稳定、航向精度、航速保持、操舵能量消耗。仿真结果表明:该方法可以有效保持航速;从航行经济性的角度,对于同时安装有减摇鳍和自动舵的船舶,不推荐采用舵鳍联合减摇的控制方法。A ship navigating on the surface of the water may experience greater resistance, adversely affecting its speed and leading to energy loss. The added resistance of surface ships in both still water and waves are investigated, and the computation method of total speed loss is presented. An autopilot system is introduced to constrain the speed loss, and course keeping and rudder roll stabilization sliding mode control laws are proposed according to a compact control strategy. The two working conditions of ＂heading＂ and ＂heading plus anti-roll＂ are discussed, including roll stabilization, heading error, speed maintenance and rudder abrasion. The results show that the speed can be effectively maintained using this method, and from a commercial point of view, the fin-rudder roll stabilization control is not recommended for vessels equipped with both fins and rudders.

关 键 词：船舶 运动控制 舵减摇 自动舵 附加阻力 航速损失 滑模控制 

分 类 号：U664.7[交通运输工程—船舶及航道工程]