The Study Of Parameters Configuration And Controller Optimization Of Integrated Stabilization System

Nowadays, fin and passive anti-rolling tank is both the common anti-rolling device forsea ship, however, when the ship is equipped with fin or anti-rolling tank lonely, they havemany disadvantages separately. When the speed of ship is high, the anti-rolling moment of finis also big, so the effect of fin is good and the roll movement of ship will be decreased by fingreatly. However, when the speed of ship is small or zero, the anti-rolling ability of fin issmall and even is equal to zero. Compare with fin, the anti-rolling tank can decrease rollmovement of ship in all most any velocity. Due to the limit of ship room, the ability ofanti-rolling tank is usually not high and the effect of anti-rolling tank is relative with wavefrequency greatly. So the effect of anti-rolling tank will good for one wave frequency.When the ship is equipped with fin and anti-rolling tank at the same time, then integratedanti-rolling device can have the advantages of fin and anti-rolling and overcome thendisadvantages of them, so the anti-rolling effect will be good. But the effect of integrateddevice is not equal to the sum of fin and anti-rolling simply, when the fin and anti-rolling tankare both equipped to ship, they will influence each other. The resonance frequency of ship willbe changed by fin and the anti-rolling tank’s effect will be influenced indirectly. The stabilityof ship is decreased by anti-rolling tank and it need to be compensated by fin. Otherwise,compare to the ship which is equipped with fin lonely, the design of integrated stabilizationsystem controller is great different. When the ship equipped with integrated anti-rollingdevice, the controller is not only control the fin, but also consider the work state ofanti-rolling tank. So, it is very important to analyze the influence of parameters of fin andpassive anti-rolling tank, give rational parameter range and design a good controller ofintegrated stabilization.Due to analyze many reference both home and abroad, the influence of parameters of finand passive anti-rolling tank are analyzed and a controller which based on energy optimal isdesigned in this paper.Firstly, the integrated anti-rolling device mathematical model is set up by analyzedmathematical of ship-fin and ship-tank., the integrated anti-rolling device is analyzed andsimulated based on theory of vibration.Secondly, according to the characteristics and anti-rolling theory of fin and passiveanti-rolling tank, then influence of parameters are analyzed and parameters range are designedto one specific ship.Lastly, according to the influence of parameters of fin and passive anti-rolling tank, a variable parameters PID controller which based on energy optimal is designed. In order tocheck the effect of controller, the system is simulated by MATABLE.