刘志全, 金鸿章. 基于航速保持的舵减摇控制方法[J]. 中国舰船研究, 2017, 12(1): 128-133. DOI: 10.3969/j.issn.1673-3185.2017.01.019
引用本文: 刘志全, 金鸿章. 基于航速保持的舵减摇控制方法[J]. 中国舰船研究, 2017, 12(1): 128-133. DOI: 10.3969/j.issn.1673-3185.2017.01.019
LIU Zhiquan, JIN Hongzhang. Method for rudder roll stabilization control by maintaining ship speed[J]. Chinese Journal of Ship Research, 2017, 12(1): 128-133. DOI: 10.3969/j.issn.1673-3185.2017.01.019
Citation: LIU Zhiquan, JIN Hongzhang. Method for rudder roll stabilization control by maintaining ship speed[J]. Chinese Journal of Ship Research, 2017, 12(1): 128-133. DOI: 10.3969/j.issn.1673-3185.2017.01.019

基于航速保持的舵减摇控制方法

Method for rudder roll stabilization control by maintaining ship speed

  • 摘要: 船舶航行受阻力影响引起航速和能量损耗。研究船舶在静水和波浪中的附加阻力,给出船舶航行时的总体航速损失的计算方法。设计带有航速损失约束的自动舵控制系统,依据舵角协同控制方法设计航向和舵减摇滑模控制规律。综合讨论“航向”与“航向+减摇”两种工作情况,包括横摇稳定、航向精度、航速保持、操舵能量消耗。仿真结果表明:该方法可以有效保持航速;从航行经济性的角度,对于同时安装有减摇鳍和自动舵的船舶,不推荐采用舵鳍联合减摇的控制方法。

     

    Abstract: A ship navigating on the surface of the water may experience greater resistance, adversely affect-ing its speed and leading to energy loss. The added resistance of surface ships in both still water and waves are investigated, and the computation method of total speed loss is presented. An autopilot system is intro-duced to constrain the speed loss, and course keeping and rudder roll stabilization sliding mode control laws are proposed according to a compact control strategy. The two working conditions of "heading" and "heading plus anti-roll" are discussed, including roll stabilization, heading error, speed maintenance and rudder abrasion. The results show that the speed can be effectively maintained using this method, and from a commercial point of view, the fin-rudder roll stabilization control is not recommended for vessels equipped with both fins and rudders.

     

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