为提升舰船的回转性能和稳定性，研究高速大舵角下回转舰船横摇力矩波动自动控制方法。计算回转舰船横摇力矩，通过闭环增益成形算法设计舰船横摇力矩波动自动控制的鲁棒PID控制器。以计算的横摇力矩与期望横摇力矩间的误差，以及误差变化率为鲁棒PID控制器的输入，输出横摇力矩波动自动控制律，并作用于舰船上实现横摇力矩波动自动控制。实验证明：在高速大舵角下回转工况下，该方法可有效自动控制舰船横摇力矩波动，降低横摇力矩的振动幅度；应用该方法后，可将舰船横摇角自动控制在允许范围内，且舰船回转轨迹与期望轨迹接近。
To improve the rotational performance and stability of ships, a study is conducted on the automatic control method for the roll torque fluctuation of rotating ships under high-speed and large rudder angles. Calculate the roll moment of a rotating ship and design a robust PID controller for automatic control of ship roll moment fluctuations using a closed-loop gain shaping algorithm. The robust PID controller takes the error between the calculated roll moment and the expected roll moment, as well as the rate of error change, as inputs to output an automatic control law for roll moment fluctuations, which is applied to the ship to achieve automatic control of roll moment fluctuations. Experimental results have shown that under high-speed and large rudder angles, this method can effectively and automatically control the fluctuation of ship roll torque, reducing the vibration amplitude of roll torque; After applying this method, the ship's roll angle can be automatically controlled within the allowable range, and the ship's turning trajectory is close to the expected trajectory.
2024,46(4): 47-50 收稿日期：2023-12-11
DOI：10.3404/j.issn.1672-7649.2024.04.009
分类号：TP27
作者简介：董微微(1982-),女,硕士,讲师,研究方向为自动控制
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