舰船主舵/襟翼舵广义预测联合控制规律研究

水动力学表明，襟翼舵的存在大幅度地提高了升力系数值。目前工程使用中的主舵、襟翼舵之间依靠机械连动，转角之比为固定关系，限制了主舵／襟翼舵优良水动力特性的充分发挥。本文综合优化船舶定向航行精度和控制能量消耗，提出多变量广义预测控制理论设计具有可变转角比关系的主舵、襟翼舵联合控制规律。仿真表明，控制器具有良好的效果，与常规流线型舵和转角比为比例关系的主舵／襟翼舵相比，同样航向精度下此种控制策略摆舵消耗

Generalized Predictive Control of Main/Flap Rudders for Ship Course-keeping

Hydrodynamics shows that the flap rudder can increase lift coefficient notably.Nowadays,the main and flap rudders in use are connected by mechanical joint which restricts the full use of main/flap rudders owning fine hydrodynamic property .The paper investigated the ship course_keeping problem.The object was the synthetic optimization of heading precision and consumption of control energy.Multivariable generalized predictive control theory was adopted to design new type operating law,in which main and flap rudders are control sides and expected to turn at variable angle_ratio relation.The simulation showed that the controller was effective.Compared with routine streamlined rudder and angle_ratio being fixed proportion main/flap rudders manners,the strategy proposed in the paper can hold nearly the same heading precision and decrease the consumption of control energy prominently.