基于MPC的船舶横摇运动控制方法研究

Research on Ship Roll Motion Control Method Based on MPC

船舶在恶劣海况下会产生大幅横摇运动,严重影响船舶航行安全。如果能对船舶运动趋势进行预测,并采取一定措施进行减摇控制,将大幅提升船舶安全性。该文基于AQWA软件计算船舶运动响应,利用系统识别对波浪的记忆效应进行近似估计,结合横风横浪中单自由度横摇运动方程和船舶运动状态方程,采用模型预测控制(MPC)方法进行船舶横摇运动控制,进而达到减小横摇运动的目的。通过对标准船模5415在规则波和不规则波条件下的横摇运动及其控制模拟,结果表明:MPC方法可有效减小横摇运动幅值,可以很好地解决船舶横摇运动控制的非线性问题,因此该方法适用于船舶时域运动控制研究。该研究为横浪条件下多自由度船舶运动控制奠定了基础。

Ships produce large rolling motion under harsh sea conditions,which seriously affect the safety of ship manoeuvring operation.If the roll motion of ship is predicted and certain approach is adopted to reduce the rolling motion,the ship safety will be evidently improved.In this paper,the ship roll motion response is calculated based on AQWA software,the approximate estimation of wave memory effect by means of system identification,combined with the 1-degree-of-freedom rolling motion equation as well as ship motion state space equation in beam wind and wave.A model predictive control(MPC)method is applied to control the ship rolling motion,which aims to reduce the rolling motion.Motion controls of a standard ship 5415 under regular and irregular wave are discussed.The results indicate that MPC method can effectively reduce the amplitude of rolling motion and solve the nonlinear problem of ship rolling motion control.This method is feasible for the time domain analysis of ship motion.The present study provides basis for the multi-degree of freedom motion control of ship under beam wave condition.