Design And Realization Of Ship Main/Flap Rudder-Main/Flap Fin Digital Control System

In a certain range, the lift value of rudder (fin) can be increased with the increasingcamber when the rudder (fin) takes to the same angle. The lift-drag ratio also can be improved.Using this characteristic, people designs the flap rudder and flap fin, add relatively smallcontrol surfaces on the ship’s rudder and fin to improve the hydrodynamic performance. Atpresent, the rudder and flap rudder (the fin and flap fin) have certain rotation angle proportionbetween them, failed to give completely efficiency of the flap rudder (flap fin) in mostapplication.This paper adopt the rudder/flap rudder-fin/flap fin robust comprehensive coordinationcontrol method that put forward by Prof. Liu Sheng, to control the main and flap rudders(main and flap fins) independently. Through the rudder/flap rudder-fin/flap fin jointmovement, to minimize the main rudder and main fin’s moving range, the yaw (roll) liftingmoment can be provided by the flap rudder (flap fin), in order to achieve reduce energyconsumption, and improve the system reliability of the effect. Three pieces of TMS320C6713chip are used to design the ship rudder/flap rudder-fin/flap fin digital controller. Based on theprinciple of minimum energy consumption, using the parallel genetic algorithm to assignmentthe rudder angle/flap rudder angle-fin angle/flap fin angle, compare with the traditional serialgenetic algorithm, it can save44.6%time and solve the question that genetic algorithm can’tuse in real-time control system. Using a robust control algorithm make yaw and roll controlsystem work normally, and improve the yaw/roll control effect and the system ofairworthiness. The specific work as follows:Firstly, the structure of ship yaw/roll digital control system and controller are designed.Then the scheme design of the controller’s hardware and software are given. Last, the shipmodel, robust regulator, the assignment rules of main/flap rudder angles (main/flap fin angles)and the minimum energy equation distribution rules that required in controller design aregiven.Secondly, the controller hardware is designed in detail. Mainly on the TMS320C6713smallest system board design, including the power supply module, reset module and clockmodule design, Universal Asynchronous Receiver/Transmitter (UART) module,Multi-channel Buffer Serial Port (McBSP) module, Joint Test Action Group (JTAG) portmodule and FLASH memory module design. At last, the PCB production is introduced.Then, the controller software parts are designed in detail, the specific design process is given. It includes six parts of design: the initial program design, serial communicationprogram design, ship model program design, robust regulator program design, parallel geneticalgorithm design and McBSP communication module design program design.Finally, the proposed controller is integrated into the ship rudder/flap rudder-fin/flap fincourse/roll digital control system, then the controller hardware and software are debugged, atlast the digital control system is tested. Compare the Test results with MATLAB simulationresults. The results show that the test data and simulation data are basically identical, thedigital controller achieves an expect yaw/roll control effect.