The Development Of Prototype Of Simple And Direct Robust Control Of Rudder/Fin Joint System Based On VC

The coupling between yawing and rolling in ship motion is the basis of the rudder/fin joint control system. With the development of science and technology, active antirolling fins are used in modern ships. The integrated control of ship motions is the trend of the future. At present, in order to improve the ship's comfort and meet the demand of reducing the roll for special vessel, higher goal is put forward to ship motion control. Rudder/fin joint control not only keeps heading precisely, but also improves the ability of reducing rolling. At the same time, it saves energy and improves the speed. So, the research on the prototype of rudder/fin joint control system has great theoretical and practical significance.Bases on H∞robust control theory, the controller for rudder/fin joint system has been designed by using the Closed-Loop Gain Shaping Algorithm, which has the advantage of simple design procedure and obvious physical sense. The prototype hardware and software for rudder/fin joint control system have been designed, which realizes the functions of follow-up, course keeping, track keeping, rudder/fin joint control. This system is user-friendly, simple and easy to use, coinciding with the interface design idea of classic navigation instrument. And the 4 degrees of freedom nonlinear mathematical model of rudder/fin Joint system is realized by using VC++ programming.The simulation model and the rudder/fin joint control system have been tested by using the "YuKun" vessel's parameters. Test results show that the simulation model is accurate, reflects the movement of real ship, and meets the engineering needs. The rudder/fin joint control system is tested by using simulation model in double and single machine. Tests show that the course-keeping is accurate, and the anti-rolling effect is satisfactory. In track-keeping control mode, it can track the designed routes accurately, track deviation is small, and steering effect is good. Under the slow rudder speed condition, antirolling fins play an essential role, and the rudder plays the auxiliary effect.This thesis, by using Visual C++, adopts modular design methods, completes the design of software for the prototype of rudder/fin joint control system. This research lays a foundation for development of prototype for rudder/fin joint control.