具有斜舵的船舶综合减摇控制及预报方法研究
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摘要
船舶减摇及预报是船舶与海洋工程的重要研究课题之一,论文基于“十五”国防预研基金项目“船舶舵减摇控制研究”进行系统研究,从建模和控制的角度出发,采用斜舵为减摇装置,来探讨船舶运动控制,并对船舶运动姿态建模预报方法进行研究。
首先,基于切片理论建立了斜舵船舶运动方程,为斜舵船舶减摇控制的研究提供了数学模型。其次,利用基于改进递推最小二乘法的算法对海浪扰动力和扰动力矩进行建模,并对海浪扰动力和扰动力矩的估计方法进行了分析。
结合海浪扰动模型和斜舵船舶运动模型,给出了以白噪声作为系统干扰的拓展船舶运动模型,对扩展后的新系统,运用线性二次高斯(LQG)控制方法计算出扩展卡尔曼滤波增益阵和扩展随机最优控制增益阵；给出了斜舵的倾斜角度对减摇效果的影响的理论分析。仿真结果表明,基于斜舵利用经典的LQG控制方法实现船舶减纵／横摇控制是可行的。
鉴于船舶模型中的水动力参数是在某一海情下试验获得的,故需要研究船舶水动力参数在标称值附近发生随机变化时,船舶运动姿态及受扰卡尔曼估计的鲁棒性。为此论文建立了斜舵船舶运动姿态及受扰卡尔曼估计的概率模型,并以此进行了受扰卡尔曼滤波的鲁棒性统计分析,给出了在操舵存在误差时,操舵对船舶横摇、纵摇运动的分析结果。
系统水动力参数经常发生明显摄动,其水动力参数矩阵表现出奇异性。针对船舶参数的正则摄动、奇异摄动和海浪干扰的不确定性,提出了奇异系统鲁棒控制方法,该方法可以很大程度地放宽控制系统对模型的依赖性。利用奇异系统鲁棒控制方法,针对船舶减纵摇运动过程进行了仿真,证明了方法的有效性。
最后,研究在随机海浪扰动下的船舶运动姿态建模预报,采用改进的平滑周期图方法,对船舶运动姿态进行建模预报,得出预报曲线,并对预报结果分析总结。比较平滑周期图算法与直接周期图算法的预报精度,分析两种方法的算法复杂度及两种算法的可实现性和实用性。
The ship stabilization and prediction is one of important topics about naval architecture and ocean engineering. On the basis of the tenth five-year national defence advanced foundation program-the control research of shipping rudder stabilization, this thesis, from the perspective of modeling and control, discusses the ship motion control and researches the methods of ship motion model prediction, adopting the oblique rudder as stabilization equipment.
Firstly, it sets up the equation of the oblique rudder ship movement based on the strip theory, which provides the mathematics model for the research on stabilization of ship oblique rudder. Secondly, it utilizes the improved algorithm of minimum recursive square method to model wave disturbing force and disturbance torque, and analyses the estimation method of wave disturbing force and disturbance torque.
Combining wave disturbing model and oblique rudder motion model, the outward shipping motion model with white noise as the new system interference is shown. For the new expanded system, the method of linear quadratic Gaussian control is used to calculate expanded Kalman filtering gain matrix and the optimal expanded random control gain matrix and the influence caused by the angle of oblique rudder is provided. The simulation result indicates that utilizing classical LQG control on the basis of oblique rudder method to realize ship's reducing vertical and horizontal shake control is feasible.
The hydrodynamic parameter of shipping model is obtained through test under certain sea circumstance, thus the robust feature research of ship motion and disturbing stance that Kalman estimates is needed when the hydrodynamic parameter changes near the normal value. Therefore, the thesis sets up the probability model of oblique rudder ship motion and disturbing stance Kalman estimates, further makes robust statistic feature analysis on disturbing Kalman filter, and displays the analysis results on the effect on horizontal and vertical shaking when there is error of steering.
When the systematic hydrodynamic parameter changes obviously and frequently, its hydrodynamic parameter matrix appears singular. For the shipping parameter uncertainty of regular perturbation, singular perturbation and wave disturbance, this thesis proposes the robust control method of singular system, which can reduce the control system's dependence on the model to a great extent. The robust control method of singular system is utilized to simulate ship's reducing vertical shake course, which proves the validity of this method.
Finally, for the modeling prediction of ship motion stance under the random wave disturbing, the thesis adopts the improved smooth cyclic graph method, makes modeling prediction of ship motion stance, gets the predicting curve, analyzes and summarizes the predicting result. This thesis also compares the precision between smooth cyclic graph algorithm and direct cyclic graph algorithm and analyzes the complexity, realization and practicability of the two algorithms.
首先,基于切片理论建立了斜舵船舶运动方程,为斜舵船舶减摇控制的研究提供了数学模型。其次,利用基于改进递推最小二乘法的算法对海浪扰动力和扰动力矩进行建模,并对海浪扰动力和扰动力矩的估计方法进行了分析。
结合海浪扰动模型和斜舵船舶运动模型,给出了以白噪声作为系统干扰的拓展船舶运动模型,对扩展后的新系统,运用线性二次高斯(LQG)控制方法计算出扩展卡尔曼滤波增益阵和扩展随机最优控制增益阵；给出了斜舵的倾斜角度对减摇效果的影响的理论分析。仿真结果表明,基于斜舵利用经典的LQG控制方法实现船舶减纵／横摇控制是可行的。
鉴于船舶模型中的水动力参数是在某一海情下试验获得的,故需要研究船舶水动力参数在标称值附近发生随机变化时,船舶运动姿态及受扰卡尔曼估计的鲁棒性。为此论文建立了斜舵船舶运动姿态及受扰卡尔曼估计的概率模型,并以此进行了受扰卡尔曼滤波的鲁棒性统计分析,给出了在操舵存在误差时,操舵对船舶横摇、纵摇运动的分析结果。
系统水动力参数经常发生明显摄动,其水动力参数矩阵表现出奇异性。针对船舶参数的正则摄动、奇异摄动和海浪干扰的不确定性,提出了奇异系统鲁棒控制方法,该方法可以很大程度地放宽控制系统对模型的依赖性。利用奇异系统鲁棒控制方法,针对船舶减纵摇运动过程进行了仿真,证明了方法的有效性。
最后,研究在随机海浪扰动下的船舶运动姿态建模预报,采用改进的平滑周期图方法,对船舶运动姿态进行建模预报,得出预报曲线,并对预报结果分析总结。比较平滑周期图算法与直接周期图算法的预报精度,分析两种方法的算法复杂度及两种算法的可实现性和实用性。
The ship stabilization and prediction is one of important topics about naval architecture and ocean engineering. On the basis of the tenth five-year national defence advanced foundation program-the control research of shipping rudder stabilization, this thesis, from the perspective of modeling and control, discusses the ship motion control and researches the methods of ship motion model prediction, adopting the oblique rudder as stabilization equipment.
Firstly, it sets up the equation of the oblique rudder ship movement based on the strip theory, which provides the mathematics model for the research on stabilization of ship oblique rudder. Secondly, it utilizes the improved algorithm of minimum recursive square method to model wave disturbing force and disturbance torque, and analyses the estimation method of wave disturbing force and disturbance torque.
Combining wave disturbing model and oblique rudder motion model, the outward shipping motion model with white noise as the new system interference is shown. For the new expanded system, the method of linear quadratic Gaussian control is used to calculate expanded Kalman filtering gain matrix and the optimal expanded random control gain matrix and the influence caused by the angle of oblique rudder is provided. The simulation result indicates that utilizing classical LQG control on the basis of oblique rudder method to realize ship's reducing vertical and horizontal shake control is feasible.
The hydrodynamic parameter of shipping model is obtained through test under certain sea circumstance, thus the robust feature research of ship motion and disturbing stance that Kalman estimates is needed when the hydrodynamic parameter changes near the normal value. Therefore, the thesis sets up the probability model of oblique rudder ship motion and disturbing stance Kalman estimates, further makes robust statistic feature analysis on disturbing Kalman filter, and displays the analysis results on the effect on horizontal and vertical shaking when there is error of steering.
When the systematic hydrodynamic parameter changes obviously and frequently, its hydrodynamic parameter matrix appears singular. For the shipping parameter uncertainty of regular perturbation, singular perturbation and wave disturbance, this thesis proposes the robust control method of singular system, which can reduce the control system's dependence on the model to a great extent. The robust control method of singular system is utilized to simulate ship's reducing vertical shake course, which proves the validity of this method.
Finally, for the modeling prediction of ship motion stance under the random wave disturbing, the thesis adopts the improved smooth cyclic graph method, makes modeling prediction of ship motion stance, gets the predicting curve, analyzes and summarizes the predicting result. This thesis also compares the precision between smooth cyclic graph algorithm and direct cyclic graph algorithm and analyzes the complexity, realization and practicability of the two algorithms.
引文
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