摘要
具有2套舵机的船舶,由于其伺服系统参数不能完全一致,导致船舶在运行过程中2套舵机的运行不能完全同步,致使舵效降低,操纵性能变差。为了减小2套舵机的运行误差,本文阐述了一种云模型同步补偿控制方法。为此对舵机系统进行机理建模,借鉴主从控制策略提出双舵同步补偿控制系统结构,针对舵机系统的强非线性和不确定性,设计云模型补偿控制器。最后仿真结果表明所设计的控制器有效地减小了双舵同步误差,该方法简易、直观、鲁棒性强,在船舶双舵同步控制中切实可行,具有工程指导意义。
Aiming at ships which have two rudders,the angle error of twin-rudder exists if the structure parameters and electrical parameters are different in two steering gear systems,also the efficiency of rudder and ship maneuverability will be reduced during the navigation. For the sake of reducing the ruder angle error,a synchro-ballistic control approach based on cloud model is proposed in this paper. Firstly,the mechanism model of steering gear system is introduced. Secondly,the structure of synchro-control system of twin-rudder is proposed based on the master-slave control strategy. Thirdly,synchro-ballistic controller based on cloud model is designed to solve the nonlinearity and uncertainty of system. Finally,the designed controller is tested via simulation under two different situations. The simulated results demonstrate that this method is simple,and has stronger robustness against the variation of states and parameters of plants. So this method is valid and reliable for synchro-control of two rudders and is significant for engineering application.
出处
《舰船科学技术》
北大核心
2015年第8期94-97,共4页
Ship Science and Technology
关键词
船舶
双舵
同步控制
云模型
ship
twin rudder
synchro-control
cloud model
