Design And Development Of Multimode Controller For Fin Stabilizer

Ship is influenced by the wave, wind and other external disturbances, and will produce the inevitable more- degrees of freedom motion, due to the damping of ship rolling motion is small, ship is susceptible to rolling motion; Ship anti-rolling device, therefore, become one of the important equipment to ensure the safety of ship at sea voyage, its control performances are good or bad is a direct impact on the stability of the ship in the complex ocean environment. Anti-rolling fin stabilizer is a kind of device which is active, and it is widely used in ship anti-rolling for the damping effect is well. Working principle of the anti-rolling fin mainly on the basis of the current situation of the sea state stabilization, but because of the unpredictability of ocean waves, remain the state of passive anti-rolling fin. To improve the real-time performance of ship anti-rolling,in this paper,the method based on ship rolling current state to achieve the purpose of indirect forecast waves, so as to improve the real-time performance of the fin and he damping effect is better.Controller is the core of the control system, its performance directly affect the control effect of the control system. Therefore, designing a control system which has good stability and strong real-time for anti-rolling fin control system performance is of great significance.To test and verify the effectiveness of the above methods, this article mainly has carried on the anti-rolling fin controller designing and the main contents include:First of all, on the basis of analyzing the domestic and foreign development of anti-rolling fin, the research status of multiple model control, by analysing the stress state of ships in waves, leads to the control principle "moment of confrontation" ; through analyzing the parts of ship, the wave and so on, modeling and using it for the simulation research.Secondly, According to the simulation model ,the ship roll calendar, the corresponding roll Angle spectrum and controller switching strategy which are focused researchesAccording to the results, with roll angle corresponding to the peak frequency as the switch between the controller and simulation analysis of the whole control system.Then, According to the principle of fin, functional requirements, complete selection of controllers and related signal analysis , and Design requirements as well as the composition of the whole control system, finally realizing the design of the whole scheme which based on the realizing function of the anti-rolling fin.Last, on the basis of the researches completing the system design and verifying simulation result. Finally, designing the control system hardware framework based on TMS320F28335 chip platform , and designing the interface circuit which is corresponding to TMS320F28335, completing data acquisition, controlling unit and the software design of man-machine interface circuit, implement the controller control of data acquisition,processing and D/A output function. Build interactive interface, implementation of data communication between DSP and PC; then we do physical validation of different conditions using anti-rolling fin platform, by analyzing the experimental results we can verify the controller can meet control specifications.