Improvement of the method of linear-quadratic control of azimuthal drivers of the combined propulsion complex

The development of the coastal shelf (mining of natural resources, construction of wind and tidal power plants, pelagic fishing, etc.) involves the development of high-tech, science-intensive branches of the marine industry, which involve the construction and operation of ships designed for exploration and drilling, lifting and transport and loading and unloading operations in various operating conditions (the so-called offshore fleet).

Comprehensive monitoring of degradation effects on the lines of propulsion flow has been carried out with the identification of corresponding markers at the intersections of energy flows. Strategies for all-mode control of power, torque and speed of electric motors of azimuth thrusters (ATS) located in the stern of the combined propulsion complex (CPC) have been developed. Methods for constructing multi-criteria three-level power distribution control strategies in PPC ship power plants (SPP) are proposed. Taking this into account, the following objectives were solved within the framework of the study:

– based on the analysis of the CPC behavior and the ATS efforts in combination with studies of the design features of ships of a similar class, a mathematical model was determined that describes the behavior of the CPC with the ATS in the stern;

– based on the analysis of the principles of modeling and linearization of the ATS control systems and existing methods, the shapes of the state space were determined and the influence of disturbing forces on the characteristics of the controller was tracked;

– physical modeling of the multifunctional CPC with the ATS in the stern was carried out;

– the mathematical model was adapted to the algorithm of the controller and the control system with the corresponding testing of the controller using simulation modeling.

The parametric optimization of the linear-quadratic control of the CPC ATS allowed to increase the efficiency of the CPC SPP operation.