文献类型：会议论文

英文题名：Adaptive Rudder Roll Stabilization Controller Design Based on Closed-Loop Gain Shaping Algorithm

作者：Wang, Lijun[1,2]; Wang, Sisi[1]

机构：[1] Maritime College, Guangdong Ocean University, Zhanjiang, China; [2] Hubei Key Laboratory of Inland Shipping Technology, Wuhan, China

会议论文集：Frontier Computing - Proceedings of FC 2020

会议日期：July 10, 2020 - July 13, 2020

会议地点：Singapore, Singapore

语种：英文

外文关键词：Controllers - Curricula - Design - Disturbance rejection - Numerical methods - Rudders

外文摘要：Based on the closed-loop gain shaping algorithm, a novel disturbance attenuation method is developed to design rudder roll stabilization controller for a multifunctional naval vessel. Because the ship model from roll angle to rudder angle is an unstable non-minimum phase system, a mirror-injection method is applied in the controller design process. Finally, a multi-objective autopilot system with rudder roll stabilization controller and course-keeping controller is constructed, and simulation tests are carried out in random wave disturbances with different encounter periods. Numerical results along with comparison to a sliding control method indicate that the controllers can achieve good disturbance rejection near the ship natural roll frequency, and stable tracking performance during course-keeping and course-changing maneuvers. It is noteworthy that the rudder roll stabilization controller designed by proposed method is simple, decoupling, robust, and directly adaptive, utilizing only two design parameters with obvious physical significance. ? 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.