Rudder Roll Damping Controller With A Wave Observer

摘要

The perturbations in parameters or structure of the ship are important for RRD. H. control is useful in the design of RRD controllers when this kind of model uncertainty exists. The design method of a parallel RRD controller is discussed. Thecourse keeping controller with a wave observer and the roll damping controller are designed by mixed sensitivity approach to deal with the perturbations. The seaway simulation results show that the rudder motion is very small when course keeping is inoperation only, and the effectiveness of RRD is satisfactory when it is active.