[Objectives]This paper seeks to solve the problem of excessive energy consumption caused by the excessive amplitude of the rudder angle and high frequency of rudder angle change during ship course-keeping.[Methods]A closed-loop gain shaping algorithm(CGSA)is used to design the controller;a double nonlinear feedback algorithm is introduced;the steering amplitude and frequency are reduced by a combina-tion of the bipolar S-function and arc-tangent function;and the whole control system is controlled by the posi-tive feedback method.[Results]The simulation results show that the proposed double nonlinear feedback algorithm improves the comprehensive energy-saving evaluation index of steering gear energy consumption by 31.53%and 18.63%under Beaufort No.6 and Beaufort No.8 respectively.[Conclusions]It is verified that the double nonlinear feedback method has a positive effect on saving the power consumption of the steering gear and reducing carbon emissions in the course of ship navigation,and an equivalent control effect of posi-tive feedback and negative feedback,providing valuable references for the study of ship course-keeping control.
关键词
船舶工程/航向保持控制/节能降碳/双重非线性反馈/正反馈/闭环增益成形算法
Key words
ship engineering/course-keeping control/green energy-saving/double nonlinear feedback/positive feedback/closed-loop gain shaping algorithm(CGSA)
维普
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