Assessing Linear Control Strategies for Zero-Speed Fin Roll Damping
This work addresses the practical challenge of roll stabilization for vessels at zero speed, but the approach is incremental, applying linear control with nonlinear compensation to an existing fin system.
The paper proposes a linear control strategy for zero-speed fin roll damping that accounts for nonlinear drag forces and actuator limitations, achieving effective roll stabilization in low-speed conditions as demonstrated by simulations on a high-fidelity vessel model.
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.