【作者】 綦志刚； 孙伟星； 陈缘； 赵威；

【Author】 Zhigang Qi;Weixing Sun;Yuan Chen;Wei Zhao;Harbin Engineering University;

【机构】 哈尔滨工程大学自动化学院；

【摘要】 随着材料科学和现代控制理论的发展,限制陀螺减摇装置应用的问题得到了进一步解决。与减摇水仓相比,陀螺减摇装置占用体积小,安装方便,减摇效果好;与普通减摇鳍相比,陀螺减摇装置能够工作在低航速下。本文基于陀螺减摇装置工作原理,建立了单框架陀螺的动力学模型和低航速下船舶横摇运动控制系统。设计了模糊免疫PID控制器,建立了低航速下基于模糊免疫控制的船舶陀螺减摇控制系统。在随机海浪为干扰下,研究了陀螺减摇装置在各种海况下的横摇减摇,取得了较为理想的减摇效果。从仿真结果可以看出,在不同的海浪干扰下模糊免疫控制器能够时时优化PID控制器的参数,使其在低航速下获得较好的减摇效果。更多还原

【Abstract】 With the development of material science and modern control theory,the applied limitation of the gyro-stabilizer has been solved.Compared with anti-roll tank,gyro-stabilizer is small,easy to install,and has good roll reduction effect;compared with traditional fin stabilizers,gyro-stabilizer can be used at low speed.In this paper,based on the working principle of the gyro-stabilizer,the dynamic motion model of the gyro-stabilizer and the ship roll motion control system was built at low speed.A fuzzy immune PID controller was proposed to reduce the roll of the ship with gyro-stabilizer.Under different wave disturbances,gyro-stabilizer device gains good roll stabilization results.The designed fuzzy immune controller can optimize parameters of the PID controller according to different wave disturbance from simulation data.更多还原