双桨游览船舶无舵效运动建模与控制研究

摘要

Aiming to a twin-screw sightseeing ship with the power supplied by solar and lithium batteries and propellers driven by brushless DC motors, a simulation model of the ship movement is established in the case of both rudders failure. By detecting rotation speed of the propellers on port and starboard, equivalent values of rudder angle are calculated in real-time with the difference between the two speeds, and an appropriate speed controlling value of propeller is given. Maneuvering control strategy is optimized under the condition of rudder failure, and then the control system is simulated. The simulation results show that the proposed control strategy is effective and practical, and both ship maneuvering and safety performances are improved.%针对以太阳能和锂电池为能源、以无刷直流电机为推进装置的双推进双体游览船舶，论文通过对双体船受力分析，依据船舶运动建模方法，建立船舶在舵失效情况下的运动仿真模型。通过检测左右舷螺旋桨的转速，实时计算双桨转速差产生的等效舵效值，并给出合适的转速控制值。最后，以实船数据为依据进行舵失效情况下的船舶操纵控制策略优化，并进行系统仿真；仿真结果表明，论文提出的控制策略有效实用，提高了船舶操纵控制性能以及安全性能。