摘要
针对船舶高航速下强机动时易出现大横倾和高海况下的频繁操舵问题,采用离散型模型预测控制(DMPC)理论提出一种基于转向速率和舵角舵速约束条件下的航向机动控制策略,通过控制转向过程中的航向速率限制高速转向过程中的最大横倾。针对海浪干扰特性,通过忽略舵角舵速的约束条件得到线性的DMPC控制器形式并引入辅助滤波器,校正控制器在海浪干扰频率段的频响特性,达到减小无效操舵的目的。仿真数据表明,所设计的基于内环航向速率的航向控制算法能有效地解决船舶高航速机动时的大横倾问题,引入辅助滤波器之后能有效减少船舶在海浪干扰下的操舵频率,显著提高了船舶快速机动时的平稳性和安全性。
In order to solve the problems of large heave when the ship is maneuvering strongly at high speed and frequent steering under high sea conditions,based on the theory of Discrete Model Predictive Control(DMPC),a course maneuvering control strategy is proposed based on steering rate and rudder Angle speed constraints,the maximum roll during high speed steering is limited by controlling the course rate during steering.Aiming at the wave disturbance characteristics,a linear DMPC controller form was obtained by ignoring the constraint condition of angle of rudder and of speed rudder,and an auxiliary filter was introduced to correct the frequency response characteristics of the controller in the wave disturbance frequency band,and the purpose of reducing invalid steering is achieved.The simulation data show that the proposed heading control algorithm based on the inner-loop heading rate can effectively solve the large roll problem when the ship is maneuvering at high speed,the introduction of the auxiliary filter can effectively reduce the frequency of steering under the disturbance of sea waves,and significantly improve the stability and safety of the ship when it is fast maneuvering.
作者
张子昌
谌兴良
孙灵远
沈东
欧阳盼
ZHANG Zi-chang;SHEN Xing-liang;SUN Ling-yuan;SHEN Dong;OUYANG Pan(Tianjin Navigation Instruments Research Institue,Tianjin 300130,China)
出处
《舰船科学技术》
北大核心
2024年第7期46-51,共6页
Ship Science and Technology
关键词
船舶
航向控制
模型预测控制
辅助滤波器
ship
heading control
model predictive control
auxiliary filter
