【摘要】 分析了船舶运动的非线性模型,根据实际情况进行假设,得到了船舶舵鳍联合减摇控制系统的状态方程,把非线性船舶舵鳍联合控制模型转化为可控正则型;将船舶运动模型看作是由横摇、艏摇、横荡3个子系统构成的大系统,进行了舵鳍联合控制,设计了舵鳍联合控制器和分散非线性变结构控制器,为了改善控制的品质,又进一步提出了模糊趋近律变结构控制的方法,最后针对减摇控制器进行了MATLAB仿真研究。仿真结果表明:舵鳍联合控制器能够很好的抑制船舶的横摇和艏摇,并能尽可能的减小横荡。更多还原

【Abstract】 The nonlinear model of ship motion is analyzed and the state equations of rudder/fin joint controlling system for ship stabilization is obtained.The rudder/fin joint controller is designed based on decentralized variable structure control theory.To restrain chattering the method of fuzzy reach law of variable structure control is presented.The simulation of the controller is carried out by using MATLAB.Simulation results show that this controller can control ship rolling and yaw very well and reduce sway as much as possible.更多还原