Course-keeping with roll damping control for ships using rudder and fin
- PDF / 4,128,014 Bytes
- 11 Pages / 595.276 x 790.866 pts Page_size
- 77 Downloads / 185 Views
ORIGINAL ARTICLE
Course‑keeping with roll damping control for ships using rudder and fin Zhiheng Zhang1,2 · Xinshu Zhang1,2 Received: 30 January 2020 / Accepted: 10 October 2020 © The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2020
Abstract To resolve the severe wear problems of steering engine and fin stabilizer, the nonlinear response characteristics of steering engine and fin stabilizer are studied by analyzing sea trial data of ship Yukun. The nonlinear response characteristics are summarized and applied to a rudder and fin hybrid control system. Decoupling, H∞ and H2 controllers are designed to achieve low control frequency for it. Simulations show that all the three controllers can achieve excellent course-keeping and roll damping performances, and their control frequencies and amplitudes are consistent with those of nautical practice. It can be found that H2 controller achieves the best response performance of course-keeping and energy saving performance for rudder engine; H∞ controller achieves the best response performance for roll damping; Decoupling controller has the best energy saving performance for fin stabilizer. When the Beaufort wind force scale is increased from 6 to 8 and model perturbation is involved, H2 controller shows the best robustness of control performance and control input. In addition, the designed low-order controllers can reduce hardware cost for autopilot realization in nautical field. Keywords Course-keeping · Roll damping · Rudder and fin · Nonlinear response characteristics Greek symbols N𝛿 Total number of steering M𝛿 Averaged steering amplitude 𝜓 Heading angle 𝜓𝛥 Changed heading angle n𝛿 The number of steering m𝛿 The amplitude of steering Tc Time of sea trial m𝛿 The amplitude of steering 𝜙 Roll angle 𝛿 Rudder angle 𝜎 Fin angle u Surge speed v Sway speed 𝜏 Steering period r(t) Input signal e(t) Error signal JE Objective function * Xinshu Zhang [email protected] 1
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Collaborative Innovation Center for Advanced Ship and Deep Sea Exploration (CISSE), Shanghai 200240, China
2
Vs Ship speed VR Relative wind speed 𝜓R Relative wind direction Vw Absolute wind speed 𝜓w Absolute wind direction Vc Absolute current speed 𝜓c Absolute current direction 𝛿wind Rudder angle induced by average wind Wc Second-order oscillation system G Controlled plant D Decoupling controller K H∞ controller Q H2 controller A System matrix B Control matrix C Measurement matrix U Input matrix s Laplacian operator S𝜓 Desired heading S𝜙 Desired roll angle T𝜓 Actual heading T𝜙 Actual roll angle U𝛿 Input rudder angle U𝜎 Input fin angle A𝜓 Mean absolute error of heading
13
Vol.:(0123456789)
A𝜙 Mean absolute error of roll damping I𝛿 Mean absolute input of rudder angle I𝜎 Mean absolute input of fin angle O- X0 Y0 Z0 Space fixed coordinate system x0,y0 Ship position o-xyz Body fixed coordinate system CFD Computational fluid dynamics MIM
Data Loading...
