Research On Main/Flap-fin Anti-rolling Anti-windup Intelligent Vector Control For Ship

Ship anti-rolling control with fin is an important control function of the ship attitude control.Its basic principle is to use the hydrodynamic force?moment?which is produced by the rotation of the fin surface to reduce the swing of the ship.And the fin/flap fin is forming a movable flap fin surface in ordinary fin lobe trailing edge cardigan,which constitutes the two relatively independent control of vector control surfaces?fin/flap fin?.When fin lobe geometry and section area under the same conditions,the hydrodynamic?moment?which the trailing edge with flap fin vector wing can provide will be greatly increased.However,the increase of the wing surface also brings the angle assignment problem and the saturation problem of actuator,So how to reduce the performance degradation caused by the saturation of fin actuator and how to make a reasonable distribution of fin/flap fin vector is a difficult problem.And with rise of energy saving and emission reduction and high performance ships,how to improve the ship anti-rolling control effect,reduce the energy consumption of the system has become a key topic of ship control engineering circles.Therefore,this dissertation carried out ship fin/flap fin anti-rolling anti-windup intelligent vector control research has important theoretical significance and engineering application prospect.The main content of this dissertation are as follows:Firstly,given the ship fin/flap fin anti rolling anti-windup intelligent vector control mechanism and technology scheme of the system,points out the key point of this research.The model of drag coefficient?lift coefficients and moment of fin/flap fin are established,the driving energy equation is corrected.Also the fin/flap fin anti-rolling control system model,fin/flap fin actuator saturation model and the wave disturbance analysis are given.Secondly,research on the design method of the ship fin/flap fin anti-rolling unconstrainded robust controller.According to the ship model uncertainties and random disturbance,the robust performance and the disturbance rejection performance of the ship anti-rolling control system are required.For ship fin/flap fin anti-rolling linear model,focuses on the analysis of the uncertainty of the system,gives the linear uncertain system robust H_? dynamic output feedback control method;at the same time for ship fin/flap fin anti-rolling nonlinear model of the system by feedback linearization and robust H_?dynamic output feedback control method is implemented.The realization of the system feedback linearization and the design and realization of the robust dynamic output feedback control are presented.The above research lays the foundation for the next chapter of anti-windup control technology.Thirdly,consider the anti-rolling control system performance degradation caused by fin actuator saturation.The anti-windup compensation control method is used to study the ship anti-rolling anti-windup control.Based on the unconstrained robust controller that designed in the previous chapter,the following three issues are mainly analyzed:?1?according to the system uncertainties and disturbances,the dynamic anti-windup control for fin/flap fin anti-rolling linear system was studied.The stability condition of the system satisfying the L₂ performance index is given,and the feasibility condition of transforming it into a linear matrix inequality is given;?2?consider fin actuator dynamic characteristics,the design method of dynamic anti-windup controller is presented for the amplitude and rate saturation of fin stabilizer.By augmenting the state variables,the transformation model of the system is derived.The sufficient conditions are given to guarantee the stability of the system and the L₂ performance index,the feasibility condition of transforming it into a LMI solution is also given.?3?for a class of feedback linearization of nonlinear system anti-windup control,considering the system disturbance,it is required that the system has robust stability and the disturbance rejection ability to satisfy the L₂ gain,the conditions for ensuring the stability and the performance of the system are given.According to the above three conditions,the controller design and simulation analysis was carried out on the fin/flap fin anti-rolling control system,the simulation results show that the designed controller can ensure the closed-loop system algebraic loop is well-posedness,guarantee the system robustness and stability at the same time,compared with the static anti windup control can achieve better performance.Then the research of ship fin/flap fin angle intelligent vector distribution control method is given,for ship fin/flap fin with multiple control surface of the vector assignment problem,based on vector control mechanism of the fin/flap fin,the ship fin/flap fin anti-rolling control system “driving energy minimum + drag lift ratio minimum” index is presented as the optimal objective function.On this basis the corresponding optimized allocation rules and improvements are established.Then the improved simulated annealing particle swarm algorithm?MSA-PSO?of single objective fin angle/flap fin angle optimization and the improved multi-objective particle swarm optimization?IMOPSO?algorithm of fin angle/flap fin angle vector optimization allocation are respectively given.Also the improvement strategies and implementation steps of two algorithms are given.For single target MSA-PSO fin/flap fin angle optimization allocation,introducing Lagrange multiplier method to deal withequality constraints,and introducing the shrinkage factor updating particle velocity,and the relaxation velocity update strategy to improve the algorithm,improves the global and local searching ability.For improved multi-objective particle swarm algorithm fin/flap fin angle vector optimization allocation by multi-objective method to deal with nonlinear equality constraints,at the same time,the introduction of external population maintenance,inertia weight is improved and introducing niche sharing mechanism increase the population diversity and uniformity.Finally,the simulation results show that the feasibility and effectiveness of the algorithm.At last,the conclusion and prospect of this dissertation are given.The research results have theoretical significance and engineering application value for the realization of the ship anti-rolling control.In the premise of ensuring the better control effect,better to reduce the system energy consumption,while improving the system robustness and disturbance rejection capability,in line with the development trend of modern ship control requirements.And some research results of this dissertation can be applied to other industrial control fields,so it has broad application prospects.