Resumen
In the navigation of rudderless dual-motor propulsion ships, it is often necessary for the dual motor to run stably at different given speeds. However, the existing coupling strategies cannot achieve precise cooperative control of the dual motor under different given commands. Therefore, in this study, we proposed a variable error difference compensation-coupling control (VEDC-CC) strategy. Simultaneously, a coupling compensation coefficient determination method based on the self-error difference of the dual motor was introduced. The VEDC-CC utilizes the self-error difference of the dual motor as the input for the coupling compensation controller, which enables the mutual coupling of self-errors, and effectively improves the cooperative controlling performance under different given commands. Moreover, the employed variable compensation coefficient determination method enhances the disturbance coupling performance and the response speed of the system. In this study, we analyzed the different navigation conditions and dual-propeller load characteristics of a rudderless dual-motor propulsion ship. Taking a rudderless dual-motor propulsion ship designed based on the cruise ship ?Feng Hua Xue Yue? as the object, the VEDC-CC strategy was validated through simulation tests, considering the propeller load characteristics and actual operating conditions. The experimental results demonstrated that the VEDC-CC strategy could meet the practical control needs of the target ship.