The invention discloses a ship rudder rolling stabilization control method, which comprises the following steps of: establishing a ship linearized mathematical model, carrying out random sea wave spectrum modeling, establishing a simulation module and establishing a steering engine model; defining an input signal e and an input signal change rate ec of a controller and a discourse domain and a fuzzy set of a controller output u, then dividing a fuzzy control strategy into three layers according to the discourse domains of |e| and |ec|, and respectively adopting an outer-layer control strategy,a middle-layer control strategy and an inner-layer control strategy by the system according to different values of the |e| and the |ec|; defining membership degree functions of e, ec and u, and designing a control strategy of each layer through adopting a fuzzy inference method; and selecting quantification and scale factors of each layer according to indexes such as robustness, rapidity and disturbance suppression performance requirements of the system. According to the ship rudder rolling stabilization control method, the respective advantages of PID and fuzzy control are integrated, and the self-adaptive hierarchical control strategy is applied, so that the system is ensured to have good control performance and stabilization effect under different sea conditions and different encountering frequencies.
本发明公开一种船舶舵减横摇控制方法,包括:船舶线性化数学模型的建立,随机海浪谱建模及仿真模块搭建,舵机模型的建立;定义控制器的输入信号e、输入信号变化率ec及控制器输出u的论域和模糊集合,然后根据|e|和|ec|的论域,将模糊控制策略分为三层,根据|e|和|ec|不同取值,系统分别采用外层、中层和内层控制策略;定义e、ec及u的隶属度函数,通过模糊推理法设计各层的控制策略;根据系统的鲁棒性、快速性,扰动抑制性能要求等指标,选择各层的量化和比例因子。本发明综合了PID和模糊控制各自的优点,并应用了自适应分层控制策略,保证了系统在不同海况不同遭遇频率下都具有良好的控制性能和减摇效果。
Ship rudder rolling stabilization control method
一种船舶舵减横摇控制方法
2020-06-02
Patent
Electronic Resource
Chinese
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