船舶双舵同步补偿控制-控制理论与应用.pdfVIP

27 12 Vol. 27 No. 12 2010 12 Control Theory Applications Dec. 2010 :2010 , , ( , 150001) : , . , . , . , , PID, , PID. , , . : ; ; ; ; : U667.42 : A Synchronous-ballistic control for a twin-rudder ship LIU Sheng, CHANG Xu-cheng, LI Gao-yun (College of Automation, Harbin Engineering University, Harbin Heilongjiang 150001, China) Abstract: In a ship with twin-rudder, the structure parameters and electrical parameters are different in two steering gear systems. During the navigation, the error between the angles of the twin-rudder will be increased; and the efficiency of rudder power and ship maneuverability will be reduced. To reduce the error between the angles, we propose a synchronous- ballistic control approach based on fuzzy logic with variable universe. Firstly, the theoretical model of steering gear system is constructed. Secondly, the structure of the synchronous-ballistic control system of twin-rudder is developed based on the master-slave control strategy. Thirdly, fuzzy logic with variable universe theory is introduced to improve the adaptability of PID; thus the variable universe adaptive fuzzy PID synchronous-ballistic controller is designed. Finally, the simulation results show that the error between angles of the twin-rudder can be effectively reduced and the stability is automatically improved by the designed controller. This method is valid and reliable for synchronizing control of twin-rudder and is significant for engineering application. Key words: ship; twin-rudder; synchronous-ballistic; fuzzy; variable universe 1 (Introduction) , . , , , , , .