Research on Rudder Roll Stabilization Motion Control Based on Adaptive LQR

Abstract

When a ship sails on the surface of the sea, it will inevitably be disturbed by the waves. The wave interference will not only lead to the ship’s heading posture, but also affect the safety of the occupants and increase the navigation resistance to aggravate energy consumption. The most effective way to solve this problem is to control rolling motion directly. Firstly, the mathematical models of four degrees of freedom Motion model, rudder control and wave interference of ship motion are established. The simulation environment is built by Matlab/Simulink. The Q matrix and the R matrix in the controller design are determined by reducing the roll as a performance indicator. The rudder anti-rolling controller is designed by linear quadratic optimal control theory, and combined with adaptive control and parameter adjustment. The simulation results show that under different sea conditions, significant reduction rate is achieved, and good heading control accuracy can be guaranteed.