减摇鳍升力反馈自适应控制系统设计  

Design of adaptive control system for lift feedback of fin stabilizer

作　　者：梁利华[1] 孙明晓[1] 栾添添 LIANG Lihua;SUN Mingxiao;LUAN Tiantian(College of Automation, Harbin Engineering University, Harbin 150001, China)

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：《哈尔滨工程大学学报》2017年第11期1739-1744,共6页Journal of Harbin Engineering University

基　　金：国防科研资助项目(KY10400160018)

摘　　要：针对减摇鳍系统严重的非线性和不确定性问题,本文在常规鳍轴基础上进行改进,运用轴承负荷检测升力,并给出传感器的安装方式。设计切换模糊化的非线性自适应滑模控制器,利用乘积推理机、单值模糊器和中心平均解模糊器设计,将滑模控制器中的切换项进行模糊逼近使其连续化,可有效降低系统输出抖振,提高减摇鳍的抗干扰性。以一艘装备某型减摇鳍的船为对象进行实验台仿真分析,结果表明:所设计的减摇鳍控制系统对模型不确定参数摄动及外界干扰不敏感,具有较强鲁棒性。在不同海况下,减摇效果提高到83.51%~96.03%。In view of the serious nonlinearity and uncertainty of fin stabilizer systems,lift was detected using bearing load on the basis of improving the conventional fin axis in this paper.Then,the sensor installation method was presented.The fuzzy switch adaptive nonlinear sliding mode controller was designed.The switching term in the sliding mode controller was fuzzy approximated and thereby became continuous with the design of the product inference engine,single valued fuzzy controller,and center average solution fuzzy controller.Thus,the switching term is continuous,thereby effectively reducing the chattering of system output and improving the anti disturbance of fin stabilizers.Test platform simulations were performed in a ship equipped with a fin stabilizer as an object.Simulation results indicate that the designed controller is robust against perturbations from the uncertain parameters of fin stabilizers and external disturbances.Under different sea conditions,the roll stabilization effect is increased to83.51%~96.03%.

关 键 词：减摇鳍 升力反馈 轴承负荷 组合梁结构 切换模糊化 自适应滑模控制 船舶运动控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]