引用本文:刘胜,常绪成,李高云.船舶双舵同步补偿控制[J].控制理论与应用,2010,27(12):1631~1636.[点击复制]
LIU Sheng,CHANG Xu-cheng,LI Gao-yun.Synchronous-ballistic control for a twin-rudder ship[J].Control Theory and Technology,2010,27(12):1631~1636.[点击复制]
船舶双舵同步补偿控制
Synchronous-ballistic control for a twin-rudder ship
摘要点击 1686  全文点击 1533  投稿时间：2009-11-30  修订日期：2010-03-05
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DOI编号  10.7641/j.issn.1000-8152.2010.12.ITCTA091532
  2010,27(12):1631-1636
中文关键词  船舶  双舵  同步补偿  模糊  变论域
英文关键词  ship  twin-rudder  synchronous-ballistic  fuzzy  variable universe
基金项目  国家自然科学基金资助项目(51079033, 60704004); 中央高校基本科研业务费专项资金资助项目(HEUCFR1009, HEUCFZ1025).
作者单位E-mail
刘胜 哈尔滨工程大学 自动化学院 cxcky@126.com 
常绪成* 哈尔滨工程大学 自动化学院 changxucheng@hrbeu.edu.cn 
李高云 哈尔滨工程大学 自动化学院  
中文摘要
      采用双舵配置的船舶, 两套舵伺服系统结构参数和电气参数等具有一定的差异. 在航行过程中, 将会导致船舶双舵的同步误差增大、舵效降低、操纵性能变差. 为了减小双舵同步误差, 本文阐述了一种模糊变论域同步补偿控制方法. 为此首先对舵机系统进行了机理建模, 然后借鉴主从控制策略提出了双舵同步补偿控制系统结构, 针对PID适应性差的问题, 引入变论域模糊控制思想, 进一步设计了变论域模糊PID双舵同步补偿控制器. 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、提高了船舶航向稳定性, 该方法在船舶双舵同步控制中切实可行, 具有工程指导意义.
英文摘要
      In a ship with twin-rudder, the structure parameters and electrical parameters are different in two steering gear systems. During the navigation, the error between the angles of the twin-rudder will be increased; and the efficiency of rudder power and ship maneuverability will be reduced. To reduce the error between the angles, we propose a synchronousballistic control approach based on fuzzy logic with variable universe. Firstly, the theoretical model of steering gear system is constructed. Secondly, the structure of the synchronous-ballistic control system of twin-rudder is developed based on the master-slave control strategy. Thirdly, fuzzy logic with variable universe theory is introduced to improve the adaptability of PID; thus the variable universe adaptive fuzzy PID synchronous-ballistic controller is designed. Finally, the simulation results show that the error between angles of the twin-rudder can be effectively reduced and the stability is automatically improved by the designed controller. This method is valid and reliable for synchronizing control of twin-rudder and is significant for engineering application.