考虑液压舵机系统故障的轮船航向动态状态反馈控制方法  

Dynamic State Feedback Control Method for Ship Heading Considering Hydraulic Steering Gear System Faults

作　　者：李德珊[1] LI De-shan(School of Navigation,Xiamen Ocean Vocational College,Xiamen Fujian 361012,China)

机构地区：[1]厦门海洋职业技术学院航海学院,福建厦门361012

出　　处：《广州航海学院学报》2024年第3期44-48,共5页Journal of Guangzhou Maritime University

摘　　要：舵机系统是控制船舶航向的关键部件,液压舵机系统出现故障,影响船舶的操纵能力和航向稳定性。因此在对轮船航向进行控制时,需要将液压舵机的故障情况纳入考量范围。对此,提出考虑液压舵机系统故障的轮船航向动态状态反馈控制方法。在构建船舶运动的非线性数学模型中加入故障因子,对故障随时间变化的情况进行表征,并将非线性模型转化为状态空间的形式。将期望舵角作为控制器的输入值,并以控制舵角作为输出值,采用模糊PID结构对控制器进行构建。结合BP神经网络对控制器的参数进行优化整定,将输出的控制参数代入模糊PID中,进行控制舵角的调整,从而实现轮船航向动态状态反馈控制输出。测试结果表明,采用提出的方法对轮船航向进行控制时,轮船的舵角变化率较低,具有较为理想的控制效果。The steering gear system was a key component for controlling the ship s heading.If the hydraulic steering gear system malfunctions,it may affecting the ship s maneuverability and heading stability.Therefore,when controlling the course of a ship,it was necessary to take into account the fault situation of the hydraulic steering gear.It was proposed of a dynamic state feedback control method for ship heading considering hydraulic steering gear system faults.It was wise to add fault factors to the nonlinear mathematical model of ship motion,characterize the temporal variation of faults,and transform the nonlinear model into a state space form.Using the expected rudder angle as the input value of the controller and the controlled rudder angle as the output value,a fuzzy PID structure was used to construct the controller.By combining BP neural network to optimize and tune the parameters of the controller,the output control parameters were input into the fuzzy PID for adjusting the control rudder angle,thereby achieving dynamic state feedback control output of the ship s heading.The test results indicate that when using the proposed method to control the ship s heading,the rate of change of the ship s rudder angle is relatively low,and it has an ideal control effect.

关 键 词：液压舵机系统 轮船航向 控制方法 模糊PID 航向运动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]