Study On LQG Control Of Latitudinal Movement For Ship Based On Compensating Of Disturb

Because of the action of the ocean wave, wind and the other interactions, the shipping has complex movement in six degrees that is of a very strong random property. So, it is very difficult for us to predict and control the movement attitude of the shipping in a very short period and it needs further study whether in theory or real project. This paper used course rudder and controllable passive anlt-rolling Tank as the anti-rolling device. The main work included:1. Looking into the present condition of power system short-term load forecast and summarizing research method in the world.2. This paper established the latitudinal equations of the shipping based on strip theory, in the latitudinal equations, swaying, rolling and yawing are intercoupling. We could easy get ship motion attitude and use the dependence of measuring state variable to estimate wave disturbance by means of Kalman filtering.3. Introducing in detail anlt-rolling principle of controllable passive anlt-rolling tank. It controls the air valve to cause water chamber domestic waters the lateral flow cycle and ship's pivoting motion cycle synchronization, And the direction is opposite, to compensate wave disturbance of real system.4. It used LQG control for Multivariate Optimizing Control Method of Latitudinal Movement for Ship, and obtained the related simulation result.5. Bring forward a LQG control method based on compensating of disturb. First, it used controllable passive anlt-rolling tank compensating wave disturbance of real system. Then, using the course rudder carried on optimal LQG control. We compared the simulation results, it shows the control effect of LQG control method based on compensating of disturb is best.