摘要
本文基于多变量随机最优控制理论研究船舶横向运动多变量随机控制规律。文中提出两种控制规律,一种是次优控制规律,该方法简单实用但控制性能较差,另一种是最优控制规律,该方法是利用成形滤波器将有色干扰白化,并将系统模型扩充而实现的,这需要对扰动进行估计建模,因而算法上较复杂,但控制性能较前者高。文中针对典型的船舶模型及航行工况进行了大量的仿真,给出仿真结果,并对两种方法进行了比较。在减少横摇角、横摇角速度、艏摇角、艏摇角速度及横荡速度方面,次优控制可取得20%-50%的效果,但横荡位移增加了14%。最优控制可取得60%-78%的效果,但横荡位移增加了6%。在实际应用时,可按船舶实际情况选用其中一种控制规律。
It researches the ship hateral movement multivariant stochastic control law on the basis of multivariant stochastic optimum control theory.It presents two controlling means.One is suboptimal control,this technique is simple and practical, but its control performance is poor; the other is optimum control, this technique attains by using the modeling filter to change the coloured noise into white noise and extending the system model,it needs estimating and modeling the disturbance,so the algorithm is complex but its control performance is better than the former.It gives much simulation result pointing to typical ship model and navigation condition and makes a comparison between the two methods.The suboptimal control can achieve 20%-50% control effect on the aspect of decreasing roll angle,angular velocity in roll,yawing angle,angular velocity in yawing and swaying velocity,but the sway displacement adds 14%.The optimum control can achieve 60%-78% control effect and the sway displacement adds 6%.It can choise one of methods at will according as practical situation.
出处
《船舶力学》
EI
2004年第5期35-41,共7页
Journal of Ship Mechanics
关键词
船舶
横向运动
多变量随机控制
航向舵
减横摇
成形滤波器
卡尔曼滤波
course heading rudder
rolling stabilization
multivariant
modeling filter
Kalman filtering
stochastic control
