Maneuvering Mathematical Modeling And Intelligent Control For POD Ship

With the rapid development of maritime transport and shipping industry,podded propulsor as a new type of propulsion device in ship electric propulsion system get widely used,has attracted more and more attention.Propulsion motor drive the propeller of POD ship,eliminating the traditional ship steering gear,POD itself can be rotated 360 degrees,can more effectively drive the ship to complete the steering,reversing and other sports.POD propulsion ship has many advantages,such as economy,layout flexibility,maintenance convenience and so on,has a very wide range of applications.In this paper,the POD propulsion ship maneuvering mathematical model and intelligent control of the course has been studied in detail,the following research work has been completed.(1)In view of the POD propulsion ship,MMG separation model mechanism has been applied,and the reasonable calculation method of several kinds of fluid power and torque in the model have been given,and mathematical model of POD propulsion ship was established.The accuracy of the model is verified by comparing with the Nomoto model and the real ship data.(2)Simulation and maneuverability of POD propulsion ship motion is carried out.In this paper,the real POD propulsion ship parameters of the "Tai An Kou" are used for calculation in MATLAB platform,and the maneuverability of the POD propulsion ship is discussed and analyzed through the turning test and the Z shape test.The simulation results have been showed that the mathematical model is in the range of error tolerance by the comparison between the simulation results and the real ship data.And through comparing with the traditional ship maneuverability,the advantages of podded propulsion ship s' maneuverability were discussed.(3)POD propulsion ship course control problem has been discussed in detail,for the improvement of conventional PID controller,variable parameter PID controller was designed,and aiming at the problems of VPID controller,the PID controller based on RBF neural network was designed.The simulation results show that the controller can achieve the expected control effect.(4)Aiming at the problems existing in PID intelligent control,the active disturbance rejection control(ADRC)strategy adding disturbance estimation and dynamic compensation has been used.ADRC heading controller based on BP neural network has been designed.According to this idea,ADRC controller is applied to the POD propulsion ship course control problem,and the BP neural network which has been trained is embedded in ADRC controller,effectively improved the quality of control results.