摘要
船舶减摇控制是船舶运动控制技术的一个重要研究领域,其中舵鳍联合控制系统是在减摇鳍和舵减摇基础上发展起来的一种新型减摇装置,它能在保证航向保持控制精度的情况下,克服减摇鳍和舵减摇的缺点并提高减摇效果,从而提高舰船的适航性、安全性以及成员的舒适性。
本文针对舵鳍联合控制系统进行了深入的研究,为反映船舶运动的非线性本质特性,建立舵鳍联合系统的非线性数学模型;为有效控制舵鳍联合系统,基于闭环增益成形算法与精确反馈线性化方法提出简捷非线性鲁棒控制算法,并采用该算法为非线性舵鳍联合系统设计了易于工程实现的简捷非线性鲁棒控制器。
为与算法研究同步,本文首先根据已有的线性数学模型,建立了两种仅航向保持具有非线性的舵鳍联合系统非线性数学模型;然后基于MMG建模思想,根据动量定理、动量矩定理建立一个包含风、浪、流干扰的横摇、艏摇、横荡和纵荡4自由度的舵鳍联合系统非线性数学模型,并详细给出了模型涉及到的参数及流体动力导数的计算公式。此外,还指出了Nomoto模型推导过程存在的不足,并给出了应用Nomoto模型时的一些注意事项及参数修正的建议。
闭环增益成形算法是H_∞鲁棒控制理论的工程应用简化,它利用具有工程意义的参数构造出鲁棒控制器,是一种信息对称的简捷控制算法。因闭环增益成形算法暂时不能独立地针对MIMO非线性系统进行控制器的设计,所以本文将闭环增益成形算法与精确反馈线性化方法相结合,将之推广到MIMO非线性系统。根据精确反馈线性化的特点,分别提出了r=n和r＜n的MIMO系统简捷非线性鲁棒算法,并给出了虚拟输出函数的简便求解方法,以使精确反馈线性化方法能更容易、更广泛地应用于MIMO非线性系统。
最后,本文针对“育鲲”轮研究了舵鳍联合系统的简捷非线性鲁棒控制问题。首先,利用本文建立的舵鳍联合系统非线性数学模型为“育鲲”轮进行操纵性能预报;其次,根据简捷非线性鲁棒控制算法的特点,简化“育鲲”轮的舵鳍联合系统非线性数学模型;然后,采用简捷非线性鲁棒控制算法为简化后的模型设计非线性鲁棒控制器;最后在考虑风浪干扰和舵机、鳍机特性的情况下,利用简捷非线性鲁棒控制器对原有模型进行控制,得到了比较理想的计算机仿真结果。
利用本文建立的舵鳍联合非线性数学模型,对“Hual Trooper”号汽车运输船和“Belnor”号散货运输船进行了一系列回转试验及Z形试验仿真,仿真结果说明本文建立的舵鳍联合非线性数学模型是正确的,且具有一定的工程可行性。利用本文设计的简捷非线性鲁棒控制器,对考虑风浪干扰及舵机、鳍机特性的两种舵鳍联合系统进行了一系列控制仿真试验,仿真结果说明利用本文算法设计出的非线性鲁棒控制器具有良好的鲁棒性,且具有设计过程简单、物理意义明显的优点。
Ship roll stabilization control is one of the important research fields in ship motion control technology.Ship rudder/fin joint control system is a new roll stabilization device based on fin stabilizer and rudder roll stabilizer,which can guarantee the precision of course-keeping control and improve the effect of roll stabilization while overcoming the shortcomings of fin stabilizer and rudder roll stabilizer,thus improving ship's seaworthiness,security and comfort of crew and passenger.
The thesis has made a furher study about the rudder/fin joint control system.A nonlinear mathematical model for the rudder/fin joint system has been built so as to describe the nonlinearity of ship motion.In order to effectively control rudder/fin joint system,a simple and direct nonlinear robust control algorithm based on closed-loop gain shaping algorithm and exact feedback linearization method has been presented,which is applied to the nonlinear rudder/fin joint system.
Firstly,for the convenience of study on the simple and direct nonlinear robust algorithm,two nonlinear mathematical models of rudder/fin joint system have been built,considering the nonlinear characteristics of course-keeping for a given linear rudder/fin joint system.Then,according to Newton dynamical equation and based on MMG modelling method,a rudder/fin joint nonlinear mathematical model of four degrees of freedom including wind,wave and current has been built,and the calculation formulas about the parameters and hydrodynamic derivatives appearing in the model have been given in detail.In addition,the thesis points out that the deduction of the Nomoto model for ships is not very precise in the view of mathematics,and that the application range of the Nomoto model and the amendment of Nomoto model parameters for small ships and fast ships have been given.
As a simplified H_∞robust control theory,the closed-loop gain shaping algorithm constructs the controller K using four parameters with engineering sense,which is a simple and direct control algorithm based on symmetric information.At present,the closed-loop gain shaping algorithm can't independently design the controller for MIMO nonlinear system,so it is combined with exact feedback linearization method and extended to MIMO nonlinear system.According to the characteristics of the exact feedback linearization method,two simple and direct nonlinear robust control algorithms for r = n and r In the end,the thesis has applied the simple and direct nonlinear robust control algorithm into the rudder/fin joint system of "YuKun".Firstly,ship maneuverability of "YuKun" has been predicted using above rudder/fin joint nonlinear mathematical model. Secondly,the rudder/fin joint nonlinear mathematical model of "YuKun" has been simplified owing to the characteristics of the simple and direct nonlinear robust control algorithm.Then,the nonlinear robust controller for simplified rudder/fin joint nonlinear mathematical model has been designed by the simple and direct nonlinear robust control algorithm.Finally,under Beaufort No.6 and 8 sea states,the original nonlinear rudder/fin joint control system with rudder/fin servo systems has been controlled by the simple and direct nonlinear robust controller,which has led to the series of perfect simulation results.
The turning test and zig zag test of "Hual Trooper" car carrier and "Benlor" bulk carrier have been simulated using the rudder/fin joint nonlinear mathematical model in the thesis,and also a series of simulation curves which are similar to full scale ship test curves have been obtained.The simulation results show the designed model is correct and feasible in engineering.Under Beaufort No.6 and 8 sea states,two nonlinear rudder/fin joint control systems with rudder/fin servo systems have been controlled by the simple and direct nonlinear robust controller,and simulation results show that the nonlinear robust controller has nice robust performance on course-keeping and roll stabilization.The control algorithm has the advantages of simple design procedure and obvious physical sense.
引文
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