The Research On Robust Controller Of Test Platform With Poles Placement

The paper focuses on the test platform of ship anti-rolling tank.The anti-rolling tank is one of the most popular equipment used to stabilize ship rolling, and it especially is useful for ships being at zero speed or low speed state. The test platform is a device, which is used to simulate ship rolling caused by the wave force, and it serves as the test device for performance testing of the anti-rolling tank.To simulate the ship rolling accurately, an electro-hydraulic position servo system is designed. First, the electro-hydraulic servo valve, gear-rack swing hydraulic-pressure oil vat and angle sensor are selected, the model of electro-hydraulic position servo system is presented and the system parameters are gained. At the same time, the system simulation is studied. Then an emend method is putted out to improve the system stability. A robust method with poles placement which get feedback signals with a all-state observer is adopted to control the system. The simulation and the experiment results shows that the controller can meet the requirement of the position servo system.The platform can simulate rolling and swaying motion of ships respectively by two independent electro-hydraulic servo systems.At last in the paper, the rolling curve of the test platform is given and illuminated in regular waves.