船舶运动控制的舵机仿真改进  

Improvement of Steering Engine Simulation for Ship Motion Control

作　　者：张志恒 张显库[1] 周韬 ZHANG Zhi-heng;ZHANG Xian-ku;ZHOU Tao(School of Navigation,Dalian Maritime University,Dalian Liaoning 116026,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《船海工程》2018年第A01期154-160,共7页Ship & Ocean Engineering

基　　金：国家自然科学基金(51679024),中央高校青年教师基本科研业务费(3132016315)

摘　　要：基于大连海事大学校船“育鲲”轮海试数据,在已有舵机特性的基础上增加了小的航向偏差不操舵环节和舵效维持环节,建立非线性Nomoto模型和MMG模型,进行仿真验证。仿真发现,在风浪流干扰作用下,在舵机特性中增加舵效维持环节模拟操舵响应缓慢特性,操舵频率和操舵幅度更符合航海实践,操舵效果与海试舵效基本一致。结果表明,用舵效维持模拟船舶操舵响应缓慢的特性更符合海试操舵效果。In order to make the simulation of ship motion control better for engineering application,the simulation was improved by analyzing the sea trial data of Dalian Maritime University training ship Yukun.Based on the analysis of sea trial data,small non-steering heading deviation link and rudder angle maintaining link were added into already existed steering characteristics.A nonlinear Nomoto model and a MMG model were established for simulation.It was found that the slow response character of steering is simulated by rudder angle maintaining link,whose frequency and amplitude are accordance with those of sea trial under the disturbance of wind,wave and current;the steering effect was consistent with sea trial results.The results indicated that the slow response character of steering in nautical practice is in line with the simulation of rudder angle maintaining link.

关 键 词：船舶工程 船舶运动控制 仿真 零阶保持器 舵机 

分 类 号：U675.79[交通运输工程—船舶及航道工程]