Backstepping Sliding Mode Control Design for Magnus Rotating Roll Stabilizer at Low Speed

摘要

The best way of reducing roll motion is by increasing roll damping. Magnus rotating roll stabilizers are the most efficient devices to provide roll damping at low speed through the rotating rotor wing at the bilge of ship hull based on Magnus effect. In this paper, the work aims to design a suitable controller for Magnus rotating roll stabilizer system. Roll motion control system contains two subsystems, hydraulic servo system and roll motion system. The uncertainties in the two subsystems both are mismatched uncertainties. The backstepping algorithm makes the controller immune to mismatched uncertainties and the sliding mode control (SMC)provides robustness. Therefore, this paper combines the backstepping method with sliding mode control method to guarantee fast convergence rapidity of rolling angle and improve the robustness of the control system to the mismatched uncertainties. Finally, the roll reduction system of Magnus rotating roll stabilizer with a BSMC is developed to demonstrate its effectiveness for roll reduction at low speed.