ゼロ速フィンロール減衰のための線形制御戦略の評価
Assessing Linear Control Strategies for Zero-Speed Fin Roll Damping
低速・停止時でも機能する抗力ベースのゼロ速フィンによる横揺れ安定化システムに対し、非線形抗力とアクチュエータ制約を考慮した線形制御を提案し、高忠実度モデルで有効性を検証した。
著者: Nikita Savin, Elena Ambrosovskaya, Dmitry Romaev, Anton Proskurnikov
分類: eess.SY, cs.RO, cs.SY, math.OC
原文アブストラクト
Roll stabilization is a critical aspect of ship motion control, particularly for vessels operating in low-speed or zero-speed conditions, where traditional hydrodynamic fins lose their effectiveness. In this paper, we consider a roll damping system, developed by Navis JSC, based on two actively controlled zero-speed fins. Unlike conventional fin stabilizers, zero-speed fins employ a drag-based mechanism and active oscillations to generate stabilizing forces even when the vessel is stationary. We propose a simple linear control architecture that, however, accounts for nonlinear drag forces and actuator limitations. Simulation results on a high-fidelity vessel model used for HIL testing demonstrate the effectiveness of the proposed approach.