【摘要】 舰船在海上航行时会产生剧烈摇摆,因此提高舰船减摇能力是十分需要的。提出了一种基于滑模变结构控制技术的舰船减摇控制方法,并完成该控制器的实现。首先分析艏摇、横摇、横荡三自由度联合的舰船非线性数学模型及海浪模型。基于舰船的非线性运动数学模型和海浪模型,构建舰船减摇系统的整体框架,并基于趋近律方法设计滑模控制器。最后对整个舰船减摇系统进行仿真。结果表明,对于非线性强耦合的舰船舵与鳍联合控制系统,设计的趋近律滑模控制方法有效。更多还原

【Abstract】 A method of ship anti-rolling control based on sliding mode variable structure control technique is presented,and the controller is implemented in this paper.Firstly,ship’s nonlinear mathematical model with jointing the three freedom degrees of yawing,rolling and sway,and the wave model are analyzed.Then,based on ship nonlinear mathematical model and wave model,the overall framework of the ship anti-rolling system is constructed,and the sliding mode controller is designed based on reaching law.Finally,the whole ship anti-rolling system is simulated.更多还原