提出线性控制策略，实现零速时船体横摇有效抑制。
Assessing Linear Control Strategies for Zero-Speed Fin Roll Damping
- 采用线性控制架构，考虑非线性阻力与执行器限制。
- 在高保真船舶模型上验证，可有效抑制零速横摇。
- 适合低速或静止状态下需稳定性的船舶使用。
横摇稳定是船舶运动控制的关键，尤其在低速或零速工况下，传统水动力舵翼失效。本文研究由Navis JSC开发的基于两组主动控制零速舵翼的横摇阻尼系统。不同于传统舵翼，零速舵翼通过阻力机制与主动振荡生成稳定力，即使船体静止亦能工作。我们提出一种简单线性控制架构，虽为线性设计，但考虑了非线性阻力与执行器限制。在用于硬件在环（HIL）测试的高保真船舶模型上进行仿真，结果表明该方法有效。
原文摘要 · Abstract (English)
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.
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