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一种基于双重非线性正反馈的节能降碳航向保持控制方法

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[目的]为了解决船舶航向保持过程中舵角幅值过大以及舵角变换率过高而导致能耗过大的问题,提出一种基于双重非线性正反馈的节能降碳航向保持控制方法.[方法]采用闭环增益成形算法(CGSA)设计控制器,引入双重非线性反馈算法,通过双极性S函数与反正切函数的结合降低舵角幅值与操舵频率,最后使用正反馈的方法实现整个控制系统的控制.[结果]仿真结果表明,在 6 级海况和 8 级海况下,采用所提出的双重非线性反馈控制方法,反映舵机能耗的综合节能评价指标分别改进了31.53%和18.63%.[结论]验证了双重非线性反馈在降低舵机能耗、减少船舶航行过程中碳排放方面具有较好效果,以及正反馈和负反馈的等价控制效果.所提方法为船舶航向保持控制的研究提供了较好的应用参考价值.
Energy-saving and carbon reduction course-keeping control method based on double nonlinear positive feedback
[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.

ship engineeringcourse-keeping controlgreen energy-savingdouble nonlinear feedbackpositive feedbackclosed-loop gain shaping algorithm(CGSA)

范佳明、张显库、马道成

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大连海事大学 航海学院,辽宁 大连 116026

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

国家自然科学基金资助项目大连市重点领域创新团队支持计划资助项目

516790242020RT08

2024

中国舰船研究
中国舰船研究设计中心

中国舰船研究

CSTPCD北大核心
影响因子:0.496
ISSN:1673-3185
年,卷(期):2024.19(5)