一种用于船舶纵-横联合减摇的预测控制器（英文）

A predictive controller for joint pitch-roll stabilization

目的:为提高船舶运动联合减摇效果,提出一种基于船舶运动及船舶水动力预报的联合减摇控制方法,并基于弱非线性二维半方法进行数值仿真,分析该控制方法的减摇控制效果。创新点:1.提出基于船舶运动预报和水动力预报的减摇方法,克服了控制时延对减摇效果的影响;2.基于弱非线性二维半方法进行船舶运动减摇数值仿真,验证了该方法能够实现良好的联合减摇控制效果。方法:1.在控制过程中基于极短期预报方法预报船舶运动姿态,并利用船舶运动方程预报水动力,将预报的水动力作为鳍角分配的依据;2.基于弱非线性二维半方法在时域内进行船舶运动减摇数值仿真,分析该控制方法在各种不同海况下的减摇控制效果。结论:1.弱非线性二维半方法在高速船舶的水动力预报中可以获得良好的效果;2.在各个不同海况下,本文提出的控制方法能够实现有效的联合减摇。

Reduction of roll and pitch motions is critical in improving the safety and operability of a ship. In this paper, a pre- dictive controller for a ship equipped with two pairs of active fins is proposed for joint pitch-roll stabilization. The proposed controller is developed on the basis of ship motion and hydrodynamic force prediction （SMHFP）. The SMHFP controller con- sists of a short-term predictor, a force estimator, and a fin angle allocator. The short-term predictor adopts an autoregressive （AR） approach and serves to forecast ship motions. Then, predicted ship motions are used in an external hydrodynamic force estimator to evaluate the expected stabilizing forces. Finally, the optimal attack angles for active fins are allocated based on external hy- drodynamic forces forecasts. The control system of the stabilizing fins and SMHFP controller is integrated into the sea-keeping program. The program was developed based on a weakly nonlinear 2.5D method, which shows better efficiency and accuracy compared with conventional 2D and 3D methods. To evaluate the performance of the proposed controller, numerical simulations of the joint pitch-roll stabilization under various sea states were investigated on a ship model. The results suggest that the SMHFP controller shows satisfactory performance in reducing pitch and roll motions simultaneously.