| 引用本文: | 宋吉广,梁利华,史洪宇.船舶回转过程中的舵鳍联合MPC控制[J].控制理论与应用,2024,41(10):1863~1872.[点击复制] |
| SONG Ji-guang,LIANG Li-hua,SHI Hong-yu.Rudder and fin integrated MPC strategy in ship turning[J].Control Theory and Technology,2024,41(10):1863~1872.[点击复制] |
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| 船舶回转过程中的舵鳍联合MPC控制 |
| Rudder and fin integrated MPC strategy in ship turning |
| 摘要点击 3372 全文点击 54 投稿时间：2022-07-17 修订日期：2024-05-13 |
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| DOI编号 10.7641/CTA.2023.20634 |
| 2024,41(10):1863-1872 |
| 中文关键词 船舶回转 舵鳍联合控制 模型预测控制 扩张状态观测器 |
| 英文关键词 ship turning rudder fin integrated control model predictive control extended state observer |
| 基金项目 国家自然科学基金项目(50879012), 型号科研项目(KY10400160092)资助. |
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| 中文摘要 |
| 海浪和海风会加大船舶在回转过程中产生的横倾, 降低设备和人员的效率. 为此, 本文设计了基于干扰速度补偿的模型预测控制器来减小回转过程中产生的横倾和横摇. 不同于直航状态下的联合减摇控制, 针对回转过程会造成运动方程产生更大不确定性问题, 采用扩张状态观测器对运动方程的变化和外部扰动进行估计, 并将估计结果直接引入到模型预测控制所产生的控制量中. 通过遗传算法实现控制力/力矩到舵角和鳍角执行量的最优分配. 通过数值仿真和船模试验对所设计的控制策略进行了验证, 结果显示, 可以使船舶横倾和横摇限制在要求的安全包络之内. |
| 英文摘要 |
| The ship heel in turning process will be enlarged by the sea waves and wind, which can decrease the efficiency of equipment and crew on board. Therefore, a disturbance speed compensation based model predictive controller is designed to reduce the heel and roll in the ship turning. Different from the integrated anti-roll control in the state of direct voyage, the uncertainty in the equation of motion will be magnified in turning. An extended state observer is employed to estimate the variations of motion equation and external disturbances, and the estimation results are directly introduced into the control varies produced by the model predictive controller. The optimal distribution of control force/torque to rudder angle and fin angle is realized by genetic algorithm. The designed control strategy is verified by numerical simulation and ship model test, the results show that the heel and roll of ship can be limited within the required safety envelope. |
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