波浪补偿控制算法综述

Review of wave compensation control algorithms

为了实现对船舶在波浪中的运动响应进行补偿,提高海上作业的效率,需要对波浪补偿设备采用更为先进的运动控制技术.采用前馈控制和反馈控制的分类方式,简述了适合用于波浪补偿设备的控制算法研究现状,以便于更好地了解波浪补偿控制技术的发展.其中,属于前馈控制类算法的主要有卡尔曼滤波法、神经网络和时间序列分析法;属于反馈控制类的主要算法有PID控制算法和模型预测控制算法.分析这些算法在波浪补偿控制中的理论原理和研究进展,并且通过对相关学者的研究文献进行了对比分析,指出了卡尔曼滤波法、神经网络和时间序列分析法以及PID控制算法和模型预测控制算法的关键特征.在结论中根据不同控制算法的原理和特征给出了这些算法在波浪补偿控制中可能的研究方向,文中结论可以为波浪补偿控制系统的研究和发展提供指导意见.

In order to compensate the ship′s motion response in waves and improve the efficiency of marine operation,more advanced motion control technologies were needed for wave compensation equipment.For better understanding the development of wave compensation control technology,the classification methods of feedforward control and feedback control were adopted to introduce the wave compensation control algorithm research status.Among them,the main algorithms of feedforward control were Kalman filtering method,neural network,and time series analysis method;the main algorithms of feedback control were PID control algorithm and model predictive control algorithm.The theory and research states of these algorithms in wave compensation control were analyzed and the key cha-racteristics of Kalman filtering method,neural network,time series analysis method,PID control algorithm,and model predictive control algorithm through the comparative analysis of the related academic literature were pointed out.In the conclusion,according to the principles and characteristics of diffe-rent control algorithms,the algorithm of the next possible research direction in the wave compensation control was given,which can provide guidance to the research and development of wave compensation control system.