Rudder and fin integrated MPC strategy in ship turning
SONG Ji-guang
LIANG Li-hua
SHI Hong-yu
Abstract：The ship heel in turning process will be enlarged by the sea waves and wind,which can decrease the effi-ciency of equipment and crew on board.Therefore,a disturbance speed compensation based model predictive controller is designed to reduce the heel and roll in the ship turning.Different from the integrated anti-roll control in the state of direct voyage,the uncertainty in the equation of motion will be magnified in turning.An extended state observer is employed to estimate the variations of motion equation and external disturbances,and the estimation results are directly introduced into the control varies produced by the model predictive controller.The optimal distribution of control force/torque to rudder angle and fin angle is realized by genetic algorithm.The designed control strategy is verified by numerical simulation and ship model test,the results show that the heel and roll of ship can be limited within the required safety envelope.
Keywords：ship turningrudder fin integrated controlmodel predictive controlextended state observer
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1863-1872 )