A Sensitivity Function Approach to the Design of Rudder Roll Stabilization Controller

船舶航行於海中，遭遇波浪干擾所產生之橫搖運動，可視為系統遭受輸出干擾之影響，因此可針對系統之輸出靈敏度函數著手設計控制器，以達到抑制波浪干擾之目的。本文使用內模式控制之設計架構，藉由設計之轉移函數反推而求得系統之靈敏度函數，將可易於滿足系統內部穩定之條件。於設計過程中，使用參考信號調節法，考慮舵機系統之舵角極限及舵機速率限制於控制器設計之中，將可避免控制器下達超過舵機系統工作能力之控制命令。經由模擬驗證，控制器對正弦波形式之波浪干擾及具有窄頻特性之波浪干擾，皆有良好之抑制效果。

關鍵字

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並列摘要

This paper is concerned with the design of a rudder roll stabilization (RRS) system by the internal model control (IMC) method. The proposed method directly shapes the output sensitivity function which relates the wave disturbance to the ship roll motion, to achieve good disturbance rejection. Under the IMC structure, the sensitivity functions depend linearly on a design transfer function and this makes it easy to satisfy the internal stability condition. A reference conditioning technique is employed in the design that takes the limited actuator authority into the controller design consideration to avoid unknowingly pushing the actuator beyond its saturation and slew rate limitation boundaries. Numerical results indicate that very good roll reduction is achieved for sinusoidal disturbance and reasonable roll reduction is obtained for a narrow band type of disturbance generated by passing a white noise sequence through a second order shaping filter.

並列關鍵字

rudder roll stabilization ； RRS ； internal model control ； saturation ； slew rate limitation ； output sensitivity function ； reference conditioning technique

國際替代計量

A Sensitivity Function Approach to the Design of Rudder Roll Stabilization Controller

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