Research On The Ship Main/Flap Fin Anti-rolling Tolerant Control System

Because of the influence of waves, wind and current environment, the ship usually rolls and sways in the process of navigation. However, the ship roll damping is small, so the roll motion of ships will have great effects on the safety of the ship operation. Fin stabilizer is now considered to be an effective and active anti-roll equipment. Because the ship main/flap fin anti-rolling control system is a kind of mechanical-electrical-hydraulic integrating equipment, the change of the parameters and the error in sensors can still result in the breakdown of the stabilizer control system. However, the ship main/flap fin anti-rolling fault-tolerant control system can make the ship stabilizing control system stay safe, thus satisfying the voyage performance and basic requirement of steering quality, which will keep the basic tasks completed. Therefore, this paper analyses the main fault characteristics of the ship main/flap fin anti-rolling control system and designs a fault diagnosis system based on information fusion and consultative multi-Agent system. Furthermore, the Experts fault-tolerant control technology is also applied into this system as the top-level of the control system architecture. Moreover, the model based fault diagnosis algorithm and adaptive fault diagnosis observer are proposed for the uncertainties of the system model. Above all, The research contents are as follows:The background of the ship main/flap fin anti-rolling control system and status of fault diagnosis and tolerant control research status are summarized overall, then, the scheme of the research is introduced.The ship main/flap fin anti-rolling control system fault model is constructed, and then the fault format and characteristic of the ship main/flap fin anti-rolling control system are analyzed. The response characteristic of the system in the fault case is obtained by performing the simulation on AMESim.The multi-Agent information fusion model can reflect the fault real-time and rapidly. And then applying the multi-Agent information fusion and multi-issue negotiation strategies to the ship main/flap fin anti-rolling fault diagnosis system, the multi-Agent fault diagnosis design scheme is proposed, and the effectiveness and alarm rates are improved. Simultaneously, in order to solve the multi-faults and the ship main/flap fin anti-rolling tolerant control system issues, the knowledge base and reason mechanism are constructed by integrating the ship main/flap fin anti-rolling tolerant control methods with expert system and then priority concept is introduced into the reason mechanism control methods. Consequently, multi-faults diagnosis problems in the ship main/flap fin anti-rolling tolerant control system are solved.The fault diagnosis algorithm model-based and tolerant control design under the adaptive fault diagnosis observer background are proposed dealt with the uncertainties and nonlinear character of fin stabilizing control system. The unknown input robust fault diagnosis observer is designed by optimation decouple theory for disturbances decoupling. Dealt with a kind of nonlinear systems, the parameters estimation fault diagnosis observer is designed, and simulations are performed to verify the effectiveness of the algorithm proposed. In order to improve the limitations of traditional methods, the adaptive fault diagnosis observer is designed, the state feedback tolerant controller is obtained when the fault estimation is available by the adaptive observer designed.Simulation platform of the ship main/flap fin anti-rolling expert tolerant control system is constructed, the simulations are performed on some typical faults. The simulation results show that tolerant control system proposed is effectiveness for sensors fault, actuator fault and multi-faults.