随机风浪下船舶航速自适应控制

Research on ship speed adaptive control under stochastic wind wave

船舶在航行过程中受到参数扰动及海浪因素等影响,导致航速控制的稳定性不好,提出基于自适应反演误差补偿的随机风浪下船舶航速控制方法。构建随机风浪下船舶航速控制约束参量模型,采用船舶姿态信息的实时调节方法进行误差补偿,结合船舶的航速参量进行位姿修正,提高船舶航行的稳定性。采用Kalman滤波算法进行船舶航速参量的融合处理,实现自适应优化控制。仿真试验结果表明,采用该方法进行船舶航速自适应控制的稳定性较好,输出航速参量的自适应调节能力较强,提高船舶抗随机风浪能力。

During the course of navigation,the ship is affected by parameter disturbance and wave factors,which results in poor stability of speed control.This paper presents a method of ship speed control under random wind and waves based on adaptive inversion error compensation.The constraint parameter model of ship speed control under random wind wave is constructed and the real-time adjustment method of ship attitude information is used to compensate the error.In order to improve the stability of ship navigation,the position and pose correction of ship speed parameters is carried out.The fusion of ship speed parameters with Kalman filter algorithm is used to realize adaptive optimal control.The simulation results show that,the adaptive control of ship speed by using this method has good stability,and the adaptive control ability of outputting speed parameters is stronger,and the ship's ability to resist random wind and wave is improved.