Research on Integrated Control of Ship Rudder/ Fin and Main Propulsion Device

Aiming at the integrated control problem of ship rudder, fin, and main propulsion device, based on the Ship Manoeuvring Mathematical Modeling Group (MMG) modeling method, a four degree of freedom (surging, swaying, rolling and yawing) linearized mathematical model which can truly describe the essence of ship motion is established for a container ship. Using Model Predictive Control (MPC) in dealing with constraint problems, the ship rudder/fin and main propulsion device based on cloud model MPC is designed and verified by simulation. The results show that the integrated control can not only ensure the course and speed under different sea states, achieve a good anti-roll effect, but also reduce the energy consumption, reflecting good adaptability to different sea states.