基于FDLQR的喷流舵船舶航向横摇控制研究  

Research on course and roll control of ship using jet rudder based on FDLQR

作　　者：金仲佳[1,2] 司朝善 邱耿耀 夏贤[2] JIN Zhong-jia;SI Chao-shan;QIU Geng-yao;XIA Xian(School of Automation,Harbin Engineering University,Harbin 150001,China;China Shipping Research Center,Wuxi 214082,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 [2]中国船舶科学研究中心,江苏无锡214082

出　　处：《舰船科学技术》2020年第8期74-81,共8页Ship Science and Technology

摘　　要：本文探讨了目标船在随机海浪干扰下的喷流舵减摇控制问题。首先,介绍喷流舵流体动力特性,并通过内插值获取理想线性控制输入。将水面船舶4自由度非线性耦合模型简化为3自由度直航线性模型,并针对单舵舵减摇控制问题,提出基于线性模型的分频线性二次型最优控制方法,构建了航向/横摇综合控制仿真数学模型。最后,在不同工况进行喷流舵控制对比仿真研究。结果表明,喷流舵在航向/横摇控制性能上可以获取更优的效果。设计的分频线性二次型最优控制器具有较强的性能跟踪能力,并兼顾到控制成本。基于该控制方法的喷流舵控制对实际船舶航向横摇控制,尤其在低航速航行时的控制具有重要的参考价值。In this paper,roll stabilization control of term vessel using jet rudder is investigated in the random sea waves.Firstly,the hydrodynamic characteristics of jet rudder are introduced,and the ideal control input is obtained by linear interpolation.Secondly,the four-degree-of-freedom non-linear coupling model of surface ship is simplified to three-degree-offreedom linear model with direct navigation,and a frequency division linear quadratic regulation(FDLQR)control method based on the linear model is proposed to solve the rudder roll damping(RRD)problem of single rudder.The mathematical model of integrated control simulation is constructed.Finally,the comparative simulation of jet rudder control is carried out under under various conditions.The results show that the jet rudder can achieve better heading/rolling control performance.The designed FDLQR controller has strong performance of tracking ability,with consideration of control cost.The control using jet rudder based on FDLQR has important reference value for course and rolling control of the full scale ship,especially at low speed.

关 键 词：喷流舵 分频 LQR 减摇 

分 类 号：U661.3[交通运输工程—船舶及航道工程]