To improve the rotational performance and stability of ships,a study is conducted on the automatic control method for the roll torque fluctuation of rotating ships under high-speed and large rudder angles.Calculate the roll moment of a rotating ship and design a robust PID controller for automatic control of ship roll moment fluctuations using a closed-loop gain shaping algorithm.The robust PID controller takes the error between the calculated roll moment and the expected roll moment,as well as the rate of error change,as inputs to output an automatic control law for roll moment fluctuations,which is applied to the ship to achieve automatic control of roll moment fluctuations.Experimental results have shown that under high-speed and large rudder angles,this method can effectively and automatically control the fluctuation of ship roll torque,reducing the vibration amplitude of roll torque;After applying this method,the ship's roll angle can be automatically controlled within the allowable range,and the ship's turning trajectory is close to the expected trajectory.
关键词
高速大舵角/回转/舰船横摇/力矩波动/自动控制/鲁棒PID
Key words
high speed and large rudder angle/turn back/ship roll/moment fluctuation/automatic control/ro-bust PID
维普
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